Vision-Based Autonomous Landing of a Quadrotor on the Perturbed Deck of an Unmanned Surface Vehicle

Autonomous landing on the deck of an unmanned surface vehicle (USV) is still a major challenge for unmanned aerial vehicles (UAVs). In this paper, a fiducial marker is located on the platform so as to facilitate the task since it is possible to retrieve its six-degrees of freedom relative-pose in an easy way. To compensate interruption in the marker’s observations, an extended Kalman filter (EKF) estimates the current USV’s position with reference to the last known position. Validation experiments have been performed in a simulated environment under various marine conditions. The results confirmed that the EKF provides estimates accurate enough to direct the UAV in proximity of the autonomous vessel such that the marker becomes visible again. Using only the odometry and the inertial measurements for the estimation, this method is found to be applicable even under adverse weather conditions in the absence of the global positioning system

Autonomous moving target-tracking for a UAV quadcopter based on fuzzy-PI.

Moving target-tracking is an attractive application for quadcopters and a very challenging, complicated field of research due to the complex dynamics of a quadcopter and the varying speed of the moving target with time. For this reason, various control algorithms have been developed to track a moving target using a camera. In this paper, a Fuzzy-PI controller is developed to adjust the parameters of the PI controller using the position and change of position data as input. The proposed controller is compared to a gain-scheduled PID controller instead of the typical PID controller. To verify the performance of the developed system and distinguish which one has better performance, several experiments of a quadcopter tracking a moving target are conducted under the varying speed of the moving target, indoor and outdoor and during day and night. The obtained results indicate that the proposed controller works well for tracking a moving target under different scenarios, especially during night

Study and realization on indoor autonomous navigation system for quad-copter

无人机的导航技术近年来有较大的发展，但大部分的导航技术只适用于室外 场地，对于室内导航技术还需要加强深入研究。本文根据室内飞行要求搭建了微 型四旋翼无人机，将其作为飞行平台，运用单目视觉辅助系统与激光测距仪开发 了室内自主导航系统，并完成无人机系统的室内自主导航。本文的主要工作和创 新如下所述。 首先，在比较几种室内导航方法的基础上，结合采纳视觉导航与激光测距仪 导航的优点，决定综合运用两者共同服务于室内导航；根据室内飞行环境的要求， 通过对比分析，为四旋翼无人机选择“X”字飞行模式与室内导航实现方案；采 用单目摄像机、图像传输模块和激光测距仪等组成室内导航系统；根据所选方案 ...Unmanned Aerial V ehicle (UAV) navigation technology has been under great development in recent years. Nevertheless, most of the navigation technology is only applicable to the outdoor venues, thus there is an urgent need for indoor navigation technology research. Based on the flying platform of Quad-copter UAV , set up according to the indoor environment, the ...学位：工学硕士院系专业：物理与机电工程学院_机械电子工程学号：1992011115272

The adaptive control system of quadrocopter motion

In this paper we present a system for automatic control of a quadrocopter based on the adaptive control system. The task is to ensure the motion of the quadrocopter along the given route and to control the stabilization of the quadrocopter in the air in a horizontal or in a given angular position by sending control signals to the engines. The nonlinear model of a quadrocopter is expressed in the form of a linear non-stationary system

The adaptive control system of quadrocopter motion

In this paper we present a system for automatic control of a quadrocopter based on the adaptive control system. The task is to ensure the motion of the quadrocopter along the given route and to control the stabilization of the quadrocopter in the air in a horizontal or in a given angular position by sending control signals to the engines. The nonlinear model of a quadrocopter is expressed in the form of a linear non-stationary system