Robotics Lab 2015 Project: Autonamous Landing
Mobile Robotics Lab 2015：Autonamous Landing on a Moving Target
by Chen Minhua, Guo Jiangtao
Autonomous landing for Unmanned Aerial Vehicle (UAV) is an important aspect in the field of UAV research. If you want to build a pilotless plane, you have to let it use automatic landing method to land itself on particular target. automatic landing can also be used in forced landing when a plane come up with some problem like running low on battery. Currently, there are some relative autonomous landing methods such as GPS (Global Position System) and INS (Inertial Navigation System). But if the landing environment is very bad or indoor environment, these methods won't be robust enough. As computer vision is developing in a high rate, it has been widely applied in UAV automatic landing research. We can also combined these methods together to get better performance.
2 Our Target
In our project, we want to consider the automatic landing problem and find an efficient and useful methods for aircraft indoors. We use AR.Drone 2.0 as the air platform and try to land it on a fixed or moving target.
In order to guarantee that the AR.Drone can recognize the landing target correctly. Here, QR code and AR tag are used as the target marker. Next, We let the AR.Drone try to get to the place just directly above the landing target. Then, according to the information we get from the marker(QR code or AR tag) image which is based on the fronte camera of AR.Drone 2.0 , we can calculate the distance from the aircraft to the landing platform. Finally, AR.Drone lands on the target smoothly.
3 Hardware and Software
- AR.Drone 2.0: it's a nice UAV
- Zbar library: for QR code recognition.
- The Robot Operating System (ROS): it's a flexible framework for writing robot software. Here, we use the laptop with ubuntu 14.04 and ROS indigo version installed.
What we want to do is to land the UAV to the marker target. So we do some experiments to test our result.
This is a short video about our project.
Here are some other details about our project.
- the report about our project: autonamous landing
- the slides about our project: autonamous landing slides
Any problem, welcome give us feedback.
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