UAV precision landing on moving boat
Landing an unmanned aerial vehicle on a moving boat has long been a stumbling block in the development of fully autonomous flight, which has enormous promise for commercial and military uses. Thus, in this project, a solution is to attach a servo motor-based Stewart platform to the bottom of the UAV...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/158244 |
| _version_ | 1826129387808882688 |
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| author | Zhu, Yanbiao |
| author2 | Xie Lihua |
| author_facet | Xie Lihua Zhu, Yanbiao |
| author_sort | Zhu, Yanbiao |
| collection | NTU |
| description | Landing an unmanned aerial vehicle on a moving boat has long been a stumbling block in the development of fully autonomous flight, which has enormous promise for commercial and military uses. Thus, in this project, a solution is to attach a servo motor-based Stewart platform to the bottom of the UAV as landing gear and to detect the platform's orientation using a stereo camera and an onboard PC running ROS. The suggested landing algorithm makes use of a variety of control approaches, including a rotation matrix and a posture restriction, to assure the UAV's stability and landing accuracy.
This landing approach was validated in a simulated environment to assure its reliability. According to the test results, it is capable of landing accurately on both fixed tilted and moving surfaces. |
| first_indexed | 2024-10-01T07:39:46Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/158244 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:39:46Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1582442023-07-07T18:57:43Z UAV precision landing on moving boat Zhu, Yanbiao Xie Lihua School of Electrical and Electronic Engineering ELHXIE@ntu.edu.sg Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Landing an unmanned aerial vehicle on a moving boat has long been a stumbling block in the development of fully autonomous flight, which has enormous promise for commercial and military uses. Thus, in this project, a solution is to attach a servo motor-based Stewart platform to the bottom of the UAV as landing gear and to detect the platform's orientation using a stereo camera and an onboard PC running ROS. The suggested landing algorithm makes use of a variety of control approaches, including a rotation matrix and a posture restriction, to assure the UAV's stability and landing accuracy. This landing approach was validated in a simulated environment to assure its reliability. According to the test results, it is capable of landing accurately on both fixed tilted and moving surfaces. Bachelor of Engineering (Electrical and Electronic Engineering) 2022-06-02T01:31:41Z 2022-06-02T01:31:41Z 2022 Final Year Project (FYP) Zhu, Y. (2022). UAV precision landing on moving boat. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/158244 https://hdl.handle.net/10356/158244 en A1189-211 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Zhu, Yanbiao UAV precision landing on moving boat |
| title | UAV precision landing on moving boat |
| title_full | UAV precision landing on moving boat |
| title_fullStr | UAV precision landing on moving boat |
| title_full_unstemmed | UAV precision landing on moving boat |
| title_short | UAV precision landing on moving boat |
| title_sort | uav precision landing on moving boat |
| topic | Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | https://hdl.handle.net/10356/158244 |
| work_keys_str_mv | AT zhuyanbiao uavprecisionlandingonmovingboat |