Automated vision-based recovery of a rotary wing unmanned aerial vehicle onto a moving platform

Journal of Field Robotics

Volumn 30, Issue 5, 2013, Pages 667-684

  Richardson, Thomas S ^a   Jones, Chris G ^a   Likhoded, Alexey ^a   Sparks, Ed ^b   Jordan, Andrew ^b   Cowling, Ian ^c   Willcox, Simon ^c  

^a UNIVERSITY OF BRISTOL   (United Kingdom)

^b Roke Manor Research Limited   (United Kingdom)

^c Twinwoods Business Park   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM STRUCTURE; FLIGHT TEST DATA; MILITARY ENVIRONMENT; MOVING PLATFORM; PRACTICAL SOLUTIONS; SYSTEM COMPONENTS; TARGET VEHICLES; VISION BASED LOCALIZATION;

DEMONSTRATIONS; FLIGHT CONTROL SYSTEMS; LANDING; RECOVERY;

UNMANNED AERIAL VEHICLES (UAV);

EID: 84884819576     PISSN: 15564959     EISSN: 15564967     Source Type: Journal    
DOI: 10.1002/rob.21467     Document Type: Article

References (28)

1. Amidi, O. (1996). An autonomous vision-guided helicopter. Ph.D. thesis, Robotics Institute, Carnegie Mellon University
2. Barber, B., McLain, T., &Beard, R. (2009). Vision based precision landing of fixed-wing mavs. Journal of Aerospace Computing, Information, and Communication, 6(3), 207-226.
3. Barber, D. B., Griffiths, S., McLain, T.W., &Beard, R.W. (2007). Autonomous landing of miniature aerial vehicles. AIAA Journal of Aerospace Computing, Information, and Communication, 4(5), 770-784. (Pubitemid 47250769)
4. Bryson, A. (1994). Control of spacecraft and aircraft. Princeton University Press.
5. DeWagter, C., &Mulder, J. (2005, Aug). Towards vision-based UAV situation awareness. In AIAA Guidance, Navigation, and Control Conference, 15-18.
6. Evans, R. (1990). Kalman filtering of pose estimates in applications of the rapid video rate tracker. In Proceedings of the British Machine Vision Conference, Oxford, UK.
7. Garratt, M. A., Pota, H. R., Lambert, A., Eckersley-Maslin, S., &Farabet, C. (2009). Visual tracking and lidar relative positioning for automated launch and recovery of an unmanned rotorcraft from ships at sea. Naval Engineers Journal-The Official Journal of the American Society of Naval Engineers, 121(2), 1559-3584, online 0028-1425.
8. Hamel, T., Mahony, R., &Russotto, F.-X. (2010). The landing problem of a vtol unmanned aerial vehicle on a moving platform using optical flow. In IEEE International Conference on Intelligent Robots and Systems, Fontenay-aux-Roses, France.
9. Harris, C., &Stennett, C. (1990). Rapid-A video rate object tracker. In Proceedings of the British Machine Vision Conference, Oxford, UK.
10. Iran, M., &Anandan, P. (2000). About direct methods. Vision Algorithms: Theory and Practice, 1883, 267-277.
11. Kendoul, F. (2012). Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems. Journal of Field Robotics, 29(2), 315-378.
12. Lenge, S., Sunderhauf, N., &Protzel, P. (2008, November). Autonomous Landing for a Multirotor UAV Using Vision. In Workshop Proceedings of SIMPAR 2008 Intl. Conf. on Simulation,Modeling and Programming for Autonomous Robots, 482-491.
13. Marconi, L., Isidori, A., &Serrani, A. (2002). Autonomous vertical landing on an oscillating platform:An internal-model based approach. Automatica, 38, 21-32. (Pubitemid 33034536)
14. Merz, T., Duranti, S., &Conte, G. (2004). Autonomous landing of an unmanned helicopter based on vision and inertial sensing. In International Symposium on Experimental Robotics
15. Merz, T., Duranti, S., &Conte, G. (2006). Autonomous landing of an unmanned helicopter based on vision and inertial sensing. Experimental Robotics IX, Springer Tracts in Advanced Robotics, 21, 343-352. (Pubitemid 44895843)
16. Mikolajczyk, K.,&Schmid,C. (2005).Aperformance evaluation of local descriptors. IEEE Transactions on Pattern Analysis and Machine Intelligence, 27, 1615-1630.
17. Mondragn, I. F., Campoy, P., MartA-nez, C., &Olivares-MA C-ndez, M. A. (2010). 3d pose estimation based on planar object tracking for uavs control. In ICRA
18. Nonami, K., Kendoul, F., Suzuki, S., Wang, W., &Nakazawa, D. (2010). Autonomous flying robots: Unmanned aerial vehicles and micro aerial vehicles (chap. 10, pp. 219-250), Springer
19. Oh, S.-R., a d Sunil, K., Agrawal, K. P., Pota, H. R., &Garratt, M. (2005). Autonomous helicopter landing on a moving platform using a tether. In IEEE International Conference on Robotics and Automation, Barcelona, Spain
20. Oh, S.-R., a d Sunil, K., Agrawal, K. P., Pota, H. R., &Garratt, M. (2006). Approaches for a tether guided landing of an autonomous helicopter. In IEEE Transactions on Robotics and Automation, 22(3), 536-544. (Pubitemid 43898873)
21. Sabatini, R., &Palmeri, G. (2008). Differential global positioning system (dgps) for flight testing. NATO Research and Technology Organisation, October
22. Saripalli, S.,Montgomery, J. F.,&Sukhatme,G. S. (2002).Visionbased autonomous landing of an unmanned aerial vehicle. In Proceedings of the IEEE International Conference on Robotics and Automation
23. Saripalli, S.,&Sukhatme,G. (2003). Landing on amoving target using an autonomous helicopter. In Proceedings of the International Conference on Field and Service Robotics, Mt. Fuji, Japan
24. Scherer, S., Chamberlain, L., &Singh, S. (2012). Autonomous landing at unprepared sites by a full-scale helicopter. Robotics and Autonomous Systems, 60(12), 1545-1562.
25. Shakernia, O. R. V., Sharp, C., Ma, Y., &Sastry, S. (2002). Multiple view motion estimation and control for landing an unmanned aerial vehicle. In Proceedings of the International Conference on Robotics and Automation. Systems Engineering for Autonomous Systems Defence Technology Centre, http://www.seasdtc.com/(2010).Checked March 25, 2012.
26. Thales (2011). http://www.thalesgroup.com/Press-Releases/Markets/ Aerospace/2011/20110614-Thales-completes successful-flight-demonstration-for- full-automatic-land ing-and-deck-landing-of-one-ton-class-rotary-wing- UAVs/.
27. Unmanned Aircraft Systems Roadmap-DoD (2005). Retrieved March 25, 2012, from http://www.fas.org/irp/program/collect/uav-roadmap2005.pdf
28. Wenzel, K., Masselli, A., &Zell, A. (2011). Automatic take off, tracking and landing of a miniature UAV on a moving carrier vehicle. Journal of Intelligent and Robotic Systems, 61, 221-238.