Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach
This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station....
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-01-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/1/404 |
| _version_ | 1797497504038649856 |
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| author | Ching-Wei Chang Li-Yu Lo Hiu Ching Cheung Yurong Feng An-Shik Yang Chih-Yung Wen Weifeng Zhou |
| author_facet | Ching-Wei Chang Li-Yu Lo Hiu Ching Cheung Yurong Feng An-Shik Yang Chih-Yung Wen Weifeng Zhou |
| author_sort | Ching-Wei Chang |
| collection | DOAJ |
| description | This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Unlike most state-of-the-art UAV landing frameworks that rely on UAV onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such a novel configuration can therefore lighten the burden of the UAV, and the computation power of the ground vehicle/marine vessel can be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted, and the results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed. |
| first_indexed | 2024-03-10T03:20:08Z |
| format | Article |
| id | doaj.art-694f5c03a46745a2941f629a1f67539b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:20:08Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-694f5c03a46745a2941f629a1f67539b2023-11-23T12:21:45ZengMDPI AGSensors1424-82202022-01-0122140410.3390/s22010404Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial ApproachChing-Wei Chang0Li-Yu Lo1Hiu Ching Cheung2Yurong Feng3An-Shik Yang4Chih-Yung Wen5Weifeng Zhou6Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong KongDepartment of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong KongDepartment of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong KongDepartment of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong KongDepartment of Energy and Refrigerating Air-Conditioning Engineering, National Taipei University of Technology, Taipei 10608, TaiwanDepartment of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong KongSchool of Professional Education and Executive Development, The Hong Kong Polytechnic University, Kowloon, Hong KongThis work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Unlike most state-of-the-art UAV landing frameworks that rely on UAV onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such a novel configuration can therefore lighten the burden of the UAV, and the computation power of the ground vehicle/marine vessel can be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted, and the results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed.https://www.mdpi.com/1424-8220/22/1/404UAVVTOLobject trackingdeep learningsensor fusionkalman filter |
| spellingShingle | Ching-Wei Chang Li-Yu Lo Hiu Ching Cheung Yurong Feng An-Shik Yang Chih-Yung Wen Weifeng Zhou Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach Sensors UAV VTOL object tracking deep learning sensor fusion kalman filter |
| title | Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
| title_full | Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
| title_fullStr | Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
| title_full_unstemmed | Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
| title_short | Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
| title_sort | proactive guidance for accurate uav landing on a dynamic platform a visual inertial approach |
| topic | UAV VTOL object tracking deep learning sensor fusion kalman filter |
| url | https://www.mdpi.com/1424-8220/22/1/404 |
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