No Comments

Autonomous Drone Landing on a Moving Naval Base using Vision-Based Robot Control

Abstract:
This paper proposes a novel technique of an Autonomous Drone landing on top of a moving Naval Vessel Base using Vision-Based
Robot Control. To achieve an effective landing a camera is fixed under the drone which captures the images and detects the
movement of the landing base. The landing base on top of the vessel is specially designed with a nested tag which is scanned by the
fixed camera on the drone from a high altitude. This nested tag is a fiducial marker that is used by the imaging system of the drone
as a point of reference in the Naval Vessel Base for precise landing. The controller is designed in the image coordinate frame
captured by the imaging system on the drone with the help of the Jacobian Matrix. Whether the vessel remains stationary or
moving, it always trembles, especially, when a vessel experiences bad weather at sea, it will be quite challenging for the drone to
land on the trembling Naval Vessel Base. These unexpected movements cause the landing tag to disorient from the horizontal view
of the captured frames, which makes it difficult to obtain the expected mid-point of the tag. To overcome this complication the
translational and rotational motions of the drone are decoupled from the camera using the Virtual Camera Method where the mid-point of the tag is set as the feature point which helps to obtain the expected position during the horizontal plane disorientation of
the tag image captured by the camera from the drone. Additionally, Kalman Filter is employed in the imaging system to reduce the
observation noise so that precise estimation of the feature point can be achieved.

Download here :
https://ieeexplore.ieee.org/document/10252272

Citation:
S. P. V. Subamanian, S. M. Subramanian, P. Muthiah and J. M. A. Shajahan, “Autonomous Drone Landing on a Moving Naval Base us ing Vision-
Based Robot Control,” 2023 3rd International Conference on Electrical, Computer, Communications and Mechatronics Engineering
(ICECCME), Tenerife, Canary Islands, Spain, 2023, pp. 1-8, doi: 10.1109/ICECCME57830.2023.10252272.
keywords: {Jacobian matrices;Tracking;Robot control;Transforms;Cameras;Fiducial markers;Visual servoing;Drone Landing;Precisi on
Landing;Autonomous Drone;Nested Tag},

You might also like

More Similar Posts

Leave a Reply

Your email address will not be published. Required fields are marked *

Fill out this field
Fill out this field
Please enter a valid email address.
You need to agree with the terms to proceed