Vision assisted autonomous landing of an unmanned aerial vehicle

Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

Volumn 2005, Issue , 2005, Pages 1465-1470

  Chitrakaran, Vilas K ^b   Dawson, Darren M ^b   Chen, Jian ^b   Feemster, Matthew ^a,c  

^a IEEE

^b CLEMSON UNIVERSITY   (United States)

^c UNITED STATES NAVAL ACADEMY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS LANDING; GLOBALLY UNIFORM ULTIMATE BOUNDEDNESS (GUUB); HOMOGRAPHY-BASED TECHNIQUES; VISION-BASED CONTROL;

AIRCRAFT LANDING; ALGORITHMS; CAMERAS; CONTROL EQUIPMENT; CONTROL THEORY; LYAPUNOV METHODS;

UNMANNED VEHICLES;

EID: 33847231330     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2005.1582365     Document Type: Conference Paper

References (16)

1. A. Aguiar, and J. Hespanha, "Position Tracking of Underactuated Vehicles," Proceedings of the American Control Conference, pp. 1988-1993, Denver, CO, June 2003.
2. J. Chen, D. M. Dawson, W. E. Dixon, and A. Behal,"Adaptive Homography-Based Visual Servo Tracking for Fixed and Camera-in-Hand Configurations," IEEE Transactions on Control System Technology, to appear.
3. V. K. Chitrakaran, D. M. Dawson, J. Chen, and M. Feemster, "Vision Assisted Landing of an Unmanned Aerial Vehicle," Clemson University CRB Technical Report, CU/CRB/8/8/05/#l, http://www.ces.clemson.edu/ece/crb/publictn/ tr.htm, Aug. 2005.
4. O. Faugeras, Three-Dimensional Computer Vision, The MIT Press, ISBN: 0262061589, 1993.
5. O. Faugeras, and F. Lustman, "Motion and Structure From Motion in a Piecewise Planar Environment," International Journal of Pattern Recognition, and Artificial Intelligence, Vol. 2, No. 3, pp. 485-508, 1988.
6. T. Hamel, R. Mahony, R. Lozano, and J. Ostrowski, "Dynamic Modelling and Configuration Stabilization for an X-4 Flyer," Proceedings of the IFAC World Congress, Barcelona, Spain, July 2002.
7. R. Horn, and C. Johnson, Matrix Analysis, Cambridge University Press, ISBN: 0521305861, 1985.
8. M. Krstić, I. Kanellakopoulos, and P. Kokotović, Nonlinear and Adaptive Control Design, New York, NY: John Wiley and Sons, 1995.
9. Y. Nakamura, Advanced Robotics: Redundancy and Optimization, Addison-Wesley, ISBN: 0201151987, 1991.
10. O. Shakernia, Y. Ma, T. J. Koo, and S. Sastry, "Landing an Unmanned Air Vehicle: Vision Based Motion Estimation and Nonlinear Control," Asian Journal of Control, Vol. 1, No. 3, pp. 128-145, 1999.
11. C. Sharp, O. Shakernia, and S. Sastry, "A Vision System for Landing of an Unmanned Aerial Vehicle," Proceeding of the International Conference on Robotics and Automation, Vol. 2, 2001, pp. 1720-1727.
12. Y. Ma, S. Soatto, J. Košecká, and S. Sastry, An Invitation to 3D Vision, Springer-Verlag, ISBN: 0387008934, 2003.
13. D. Suter, T. Hamel, and R. Mahony, "Visual Servo Control Using Homography Estimation for the Stabilization of an X4-Flyer," Proceedings of the IEEE Conference on Decision and Control, Las Vegas, NV, 2002, pp. 2872-2877.
14. E. Malis and F. Chaumette, "2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement," International Journal of Computer Vision, Vol. 37, No. 1, 2000, pp. 79-97.
15. M. W. Spong, and M. Vidyasagar, Robot Dynamics and Control, John Wiley and Sons, ISBN: 047161243, 1989.
16. Z. Zhang, and A. R. Hanson, "Scaled Euclidean 3D Reconstruction Based on Externally Uncalibrated Cameras," IEEE Symposium on Computer Vision, 1995, pp. 37-42. See [3] for appendix A.