Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark
In the existing vision-based autonomous landing systems for micro aerial vehicles (MAVs) on moving platforms, the limited range of landmark localization, the unknown measurement bias of the moving platform (such as wheel-slip or inaccurate calibration of encoders), and landing trajectory knotting se...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/4723869 |
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| _version_ | 1850167234015526912 |
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| author | Bo-Yang Xing Feng Pan Xiao-Xue Feng Wei-Xing Li Qi Gao |
| author_facet | Bo-Yang Xing Feng Pan Xiao-Xue Feng Wei-Xing Li Qi Gao |
| author_sort | Bo-Yang Xing |
| collection | DOAJ |
| description | In the existing vision-based autonomous landing systems for micro aerial vehicles (MAVs) on moving platforms, the limited range of landmark localization, the unknown measurement bias of the moving platform (such as wheel-slip or inaccurate calibration of encoders), and landing trajectory knotting seriously affect system performance. To overcome the above shortcomings, an autonomous landing system using a composite landmark is proposed in this paper. In the proposed system, a notched ring landmark and two-dimensional landmark are combined as an R2D landmark to provide visual localization over a wide range. In addition, the wheel-slip and imprecise calibration of encoders are modeled as the unknown measurement bias of the encoders and estimated online via an extended Kalman filter. The landing trajectory is planned by a solver as a convex quadratic programming problem in each control cycle. Meanwhile, an iterative algorithm for adding equality constraints is proposed and used to verify whether the planned trajectory is feasible or not. The simulation and actual landing experiment results verify the following: the visual localization with the R2D landmark has the advantages of wide localization range and high localization accuracy, the pose estimation result of the moving platform with unknown encoder measurement bias is continuous and accurate, and the proposed landing trajectory planning algorithm provides a continuous trajectory for reliable landing. |
| format | Article |
| id | doaj-art-e2b6562c9abd4f0da63e4a17c7d7daec |
| institution | OA Journals |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-e2b6562c9abd4f0da63e4a17c7d7daec2025-08-20T02:21:14ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742019-01-01201910.1155/2019/47238694723869Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite LandmarkBo-Yang Xing0Feng Pan1Xiao-Xue Feng2Wei-Xing Li3Qi Gao4Beijing Institute of Technology, School of Automation, Beijing 100081, ChinaKunming-BIT Industry Technology Research Institute INC, Kunming 6501064, ChinaBeijing Institute of Technology, School of Automation, Beijing 100081, ChinaBeijing Institute of Technology, School of Automation, Beijing 100081, ChinaBeijing Institute of Technology, School of Automation, Beijing 100081, ChinaIn the existing vision-based autonomous landing systems for micro aerial vehicles (MAVs) on moving platforms, the limited range of landmark localization, the unknown measurement bias of the moving platform (such as wheel-slip or inaccurate calibration of encoders), and landing trajectory knotting seriously affect system performance. To overcome the above shortcomings, an autonomous landing system using a composite landmark is proposed in this paper. In the proposed system, a notched ring landmark and two-dimensional landmark are combined as an R2D landmark to provide visual localization over a wide range. In addition, the wheel-slip and imprecise calibration of encoders are modeled as the unknown measurement bias of the encoders and estimated online via an extended Kalman filter. The landing trajectory is planned by a solver as a convex quadratic programming problem in each control cycle. Meanwhile, an iterative algorithm for adding equality constraints is proposed and used to verify whether the planned trajectory is feasible or not. The simulation and actual landing experiment results verify the following: the visual localization with the R2D landmark has the advantages of wide localization range and high localization accuracy, the pose estimation result of the moving platform with unknown encoder measurement bias is continuous and accurate, and the proposed landing trajectory planning algorithm provides a continuous trajectory for reliable landing.http://dx.doi.org/10.1155/2019/4723869 |
| spellingShingle | Bo-Yang Xing Feng Pan Xiao-Xue Feng Wei-Xing Li Qi Gao Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark International Journal of Aerospace Engineering |
| title | Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark |
| title_full | Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark |
| title_fullStr | Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark |
| title_full_unstemmed | Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark |
| title_short | Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark |
| title_sort | autonomous landing of a micro aerial vehicle on a moving platform using a composite landmark |
| url | http://dx.doi.org/10.1155/2019/4723869 |
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