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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....

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Detalles Bibliográficos
Autores principales: Chang, Ching-Wei, Lo, Li-Yu, Cheung, Hiu Ching, Feng, Yurong, Yang, An-Shik, Wen, Chih-Yung, Zhou, Weifeng
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8749553/
https://www.ncbi.nlm.nih.gov/pubmed/35009946
http://dx.doi.org/10.3390/s22010404
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author Chang, Ching-Wei
Lo, Li-Yu
Cheung, Hiu Ching
Feng, Yurong
Yang, An-Shik
Wen, Chih-Yung
Zhou, Weifeng
author_facet Chang, Ching-Wei
Lo, Li-Yu
Cheung, Hiu Ching
Feng, Yurong
Yang, An-Shik
Wen, Chih-Yung
Zhou, Weifeng
author_sort Chang, Ching-Wei
collection PubMed
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.
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spelling pubmed-87495532022-01-12 Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach Chang, Ching-Wei Lo, Li-Yu Cheung, Hiu Ching Feng, Yurong Yang, An-Shik Wen, Chih-Yung Zhou, Weifeng Sensors (Basel) Article 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. MDPI 2022-01-05 /pmc/articles/PMC8749553/ /pubmed/35009946 http://dx.doi.org/10.3390/s22010404 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Chang, Ching-Wei
Lo, Li-Yu
Cheung, Hiu Ching
Feng, Yurong
Yang, An-Shik
Wen, Chih-Yung
Zhou, Weifeng
Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach
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 Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8749553/
https://www.ncbi.nlm.nih.gov/pubmed/35009946
http://dx.doi.org/10.3390/s22010404
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