Toward Visual Autonomous Ship Board Landing of a VTOL UAV

Sánchez López, José Luis and Saripalli, Srikanth and Campoy Cervera, Pascual and Pestana Puerta, Jesús and Fu, Changhong (2013). Toward Visual Autonomous Ship Board Landing of a VTOL UAV. In: "2013 International Conference on Unmanned Aircraft Systems (ICUAS)", May 29-31, 2013, Atlanta, Georgia, USA. ISBN 978-1-4799-0817-2. pp. 779-788.

Description

Title: Toward Visual Autonomous Ship Board Landing of a VTOL UAV
Author/s:
  • Sánchez López, José Luis
  • Saripalli, Srikanth
  • Campoy Cervera, Pascual
  • Pestana Puerta, Jesús
  • Fu, Changhong
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2013 International Conference on Unmanned Aircraft Systems (ICUAS)
Event Dates: May 29-31, 2013
Event Location: Atlanta, Georgia, USA
Title of Book: 2013 International Conference on Unmanned Aircraft Systems (ICUAS)
Date: 2013
ISBN: 978-1-4799-0817-2
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the movement of a ship landing platform on the Sea, for different Sea States, for different ships, randomly and realistically enough. We use a commercial parallel robot to get this movement. Once we had this, we developed an accurate and robust computer vision system to measure the pose of the helipad with respect to the on-board camera. To deal with the noise and the possible fails of the computer vision, a state estimator was created. With all of this, we are now able to develop and test a controller that closes the loop and finish the autonomous landing task.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2010- 20751-C02-01MICYTUnspecifiedUnspecified

More information

Item ID: 37647
DC Identifier: http://oa.upm.es/37647/
OAI Identifier: oai:oa.upm.es:37647
Official URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?reload=true&punumber=6552462
Deposited by: Memoria Investigacion
Deposited on: 16 Sep 2015 15:35
Last Modified: 16 Sep 2015 15:35
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