Quadrotor Autonomous Approaching and Landing on a Vessel Deck
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Autonomous landing of a quadrotor UAV on a vessel deck is challenging due to the special sea environment. In this paper, we present an on-board monocular vision based solution that provides a quadrotor with the capability to autonomously track and land on a vessel deck platform with simulated high sea state conditions. The whole landing process includes two stages: approaching from a long range and landing after hovering above the landing platform. Only on-board sensors are used in both stages, without external information input. We use Parrot AR.Drone as the experimental quadrotor platform, and a self-designed vessel deck emulator is constructed to evaluate the effectiveness of the proposed vessel deck landing solution. Experimental results demonstrate the accuracy and robustness of the developed landing algorithms.
KeywordsAutonomous landing Quadrotor Vessel deck Visual tracking
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The authors would acknowledge the research support from the Air Force Office of Scientific Research (AFOSR) FA9550-16-1-0184 and the Office of Naval Research (ONR) N00014-16-1-2729. The instructive suggestions from Dr. David B. Findlay are also gratefully acknowledged.
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