Vision-based autonomous landing for micro aerial vehicles on targets moving in 3D space

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dc.creatorRobson Olegário de Santana
dc.creatorLeonardo Amaral Mozelli
dc.creatorArmando Alves Neto
dc.date.accessioned2025-05-05T15:59:07Z
dc.date.accessioned2025-09-08T23:30:23Z
dc.date.available2025-05-05T15:59:07Z
dc.date.issued2019
dc.identifier.doi10.1109/ICAR46387.2019.8981643
dc.identifier.urihttps://hdl.handle.net/1843/82019
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof19th International Conference on Advanced Robotics (ICAR)
dc.rightsAcesso Restrito
dc.subjectRobôs - Sistemas de controle
dc.subjectRobótica
dc.subject.otherAerial robotics
dc.subject.other3D Space , Aerial Vehicles , Micro Air Vehicles , Autonomous Landing , Visual Information , Visual Feedback , Monocular , Vision Algorithms , Trajectory Planning , Relative Pose , Visual Servoing , Vertical Oscillation , Center Of Mass , Optimal Control , Fast Fourier Transform , High Altitude , Constant Speed , Unmanned Aerial Vehicles , Inertial Measurement Unit , Pose Estimation , Landing Pad , Vertical Movement , End Of The Trajectory , Discrete Fourier Transform , Optical Flow , Vertical Displacement , Periodic Motion , Touchpoints
dc.titleVision-based autonomous landing for micro aerial vehicles on targets moving in 3D space
dc.typeArtigo de evento
local.description.resumoA strategy for autonomous landing of Micro Aerial Vehicles (MAVs) on moving platforms is presented, based only on visual information from a monocular camera. The landing target is uniquely identified by previously known Augmented Reality (AR) markers, and its relative pose is estimated by visual servoing algorithms. Target trajectory in \mathbbR3 is composed of planar translation and vertical oscillation, simulating a vessel that travels in foul weather. The visual feedback helps the aerial robot to track this vessel, while a trajectory planning method, based on the system's model, allows predicting its future pose. Simulated results using the ROS framework are used to verify the effectiveness of our proposed method.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8981643

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