In this paper we propose a new control method for quadrotor autonomous landing on a visual target without linear velocity measurements. Only onboard sensing is exploited, such that only the images of the landing pad from a down-looking camera, along with data from an Inertial Measurement Unit's gyro, are used. The control system consists of an image-based nonlinear observer that estimates online the linear velocity of the vehicle and a backstepping image-based controller that generates attitude, and thrust setpoints to the quadrotor autopilot. Both observer and controller share the same feedback information: spherical visual features. Therefore no further image elaboration is needed for the estimation. This, along with the fact that only simple computations on low- and constant-dimension arrays are involved, makes the proposed solution computationally cheap. Real-hardware experiments on a quadrotor are carried out to verify the validity of the proposed control system.

Autonomous landing of rotary-wing aerial vehicles by image-based visual servoing in GPS-denied environments / Mebarki, Rafik; Lippiello, Vincenzo; Siciliano, Bruno. - (2015), pp. 1-6. (Intervento presentato al convegno IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2015 tenutosi a Purdue University, usa nel 2015) [10.1109/SSRR.2015.7443009].

Autonomous landing of rotary-wing aerial vehicles by image-based visual servoing in GPS-denied environments

MEBARKI, RAFIK;LIPPIELLO, VINCENZO;SICILIANO, BRUNO
2015

Abstract

In this paper we propose a new control method for quadrotor autonomous landing on a visual target without linear velocity measurements. Only onboard sensing is exploited, such that only the images of the landing pad from a down-looking camera, along with data from an Inertial Measurement Unit's gyro, are used. The control system consists of an image-based nonlinear observer that estimates online the linear velocity of the vehicle and a backstepping image-based controller that generates attitude, and thrust setpoints to the quadrotor autopilot. Both observer and controller share the same feedback information: spherical visual features. Therefore no further image elaboration is needed for the estimation. This, along with the fact that only simple computations on low- and constant-dimension arrays are involved, makes the proposed solution computationally cheap. Real-hardware experiments on a quadrotor are carried out to verify the validity of the proposed control system.
2015
9781509019595
9781509019595
Autonomous landing of rotary-wing aerial vehicles by image-based visual servoing in GPS-denied environments / Mebarki, Rafik; Lippiello, Vincenzo; Siciliano, Bruno. - (2015), pp. 1-6. (Intervento presentato al convegno IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2015 tenutosi a Purdue University, usa nel 2015) [10.1109/SSRR.2015.7443009].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/635864
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