An Onboard Vision-Based System for Autonomous Landing of a Low-Cost Quadrotor on a Novel Landing Pad
College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China
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Author to whom correspondence should be addressed.
Sensors 2019, 19(21), 4703; https://doi.org/10.3390/s19214703
Received: 20 August 2019
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Revised: 22 October 2019
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Accepted: 27 October 2019
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Published: 29 October 2019
(This article belongs to the Special Issue Intelligent Sensors Applications in Aerospace)
In this paper, an onboard vision-based system for the autonomous landing of a low-cost quadrotor is presented. A novel landing pad with different optical markers sizes is carefully designed to be robustly recognized at different distances. To provide reliable pose information in a GPS (Global Positioning System)-denied environment, a vision algorithm for real-time landing pad recognition and pose estimation is implemented. The dynamic model of the quadrotor is established and a system scheme for autonomous landing control is presented. A series of autonomous flights have been successfully performed, and a video of the experiment is available online. The efficiency and accuracy of the presented vision-based system is demonstrated by using its position and attitude estimates as control inputs for the autonomous landing of a self-customized quadrotor.
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Keywords:
onboard vision; micro aerial vehicle (MAV); monocular camera; autonomous landing; low-cost sensors
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MDPI and ACS Style
Liu, X.; Zhang, S.; Tian, J.; Liu, L. An Onboard Vision-Based System for Autonomous Landing of a Low-Cost Quadrotor on a Novel Landing Pad. Sensors 2019, 19, 4703. https://doi.org/10.3390/s19214703
AMA Style
Liu X, Zhang S, Tian J, Liu L. An Onboard Vision-Based System for Autonomous Landing of a Low-Cost Quadrotor on a Novel Landing Pad. Sensors. 2019; 19(21):4703. https://doi.org/10.3390/s19214703
Chicago/Turabian StyleLiu, Xuancen, Shifeng Zhang, Jiayi Tian, and Longbin Liu. 2019. "An Onboard Vision-Based System for Autonomous Landing of a Low-Cost Quadrotor on a Novel Landing Pad" Sensors 19, no. 21: 4703. https://doi.org/10.3390/s19214703
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