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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2016.12
- 수록면
- 262 - 269 (8page)
이용수
초록· 키워드
오류제보하기
Flight of an autonomous unmanned aerial vehicle (UAV) generally consists of four steps; take-off, ascent, descent, and finally landing. Among them, autonomous landing is a challenging task due to high risks and reliability problem. In case the landing site where the UAV is supposed to land is moving or oscillating, the situation becomes more unpredictable and it is far more difficult than landing on a stationary site. For these reasons, the accurate and precise control is required for an autonomous landing system of a UAV on top of a moving vehicle which is rolling or oscillating while moving. In this paper, a vision-only based landing algorithm using dynamic gimbal control is proposed. The conventional camera systems which are applied to the previous studies are fixed as downward facing or forward facing. The main disadvantage of these system is a narrow field of view (FOV). By controlling the gimbal to track the target dynamically, this problem can be ameliorated. Furthermore, the system helps the UAV follow the target faster than using only a fixed camera. With the artificial tag on a landing pad, the relative position and orientation of the UAV are acquired, and those estimated poses are used for gimbal control and UAV control for safe and stable landing on a moving vehicle. The outdoor experimental results show that this vision-based algorithm performs fairly well and can be applied to real situations.
목차
Abstract
1. 서론
2. 짐벌 컨트롤(Gimbal Control)
3. 실험 및 결과(Experiments and Results)
4. 결론
References
참고문헌 (10)
참고문헌 신청
[보고서] - S. D. Manning / 2004 / The role of human causal factors in us army unmanned aerial vehicle accidents
[학술지(정기간행물)] - V. Kumar / 2012 / Opportunities and challenge with autonomous micro aerial vehicles / The International Journal of Robotics Research 31 (11) : 1279 ~ 1291
[학술대회논문] - C.S. Sharp / 2001 / A vision system for landing an unmanned aerial vehicle / Proc. IEEE International Conference on Robotics and Automation (ICRA) 2 : 1720 ~ 1727
[학술대회논문] - O. Shakernia / 2002 / Multiple view motion estimation and control for landing an unmanned aerial vehicle / Proc. IEEE International Conference on Robotics and Automation (ICRA) 3 : 2793 ~ 2798
[학술대회논문] - S. Saripalli / 2002 / Vision-based autonomous landing of an unmanned aerial vehicle / Proc. IEEE International Conference on Robotics and Automation (ICRA) 3 : 2799 ~ 2804
[학술지(정기간행물)] - V. Kumar / 2012 / Opportunities and challenge with autonomous micro aerial vehicles / The International Journal of Robotics Research 31 (11) : 1279 ~ 1291
[학술대회논문] - C.S. Sharp / 2001 / A vision system for landing an unmanned aerial vehicle / Proc. IEEE International Conference on Robotics and Automation (ICRA) 2 : 1720 ~ 1727
[학술대회논문] - O. Shakernia / 2002 / Multiple view motion estimation and control for landing an unmanned aerial vehicle / Proc. IEEE International Conference on Robotics and Automation (ICRA) 3 : 2793 ~ 2798
[학술대회논문] - S. Saripalli / 2002 / Vision-based autonomous landing of an unmanned aerial vehicle / Proc. IEEE International Conference on Robotics and Automation (ICRA) 3 : 2799 ~ 2804
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