Autonomous Landing on Ground Target of UAV by Using Image-Based Visual Servo Control
作者单位：College of Mechatronics ＆ AutomationNational University of Defense Technology
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：08[工学] 080203[工学-机械设计及理论] 081105[工学-导航、制导与控制] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0701[理学-数学] 0812[工学-计算机科学与技术（可授工学、理学学位）]
基 金：supported by National Natural Science Foundation(NNSF) of China under Grant 61403406
关 键 词：Unmanned Aerial Vehicle(UAV) Image-Based Visual Servo(IBVS) Control Automatic Landing VICON
摘 要：This paper addresses the auto landing problem of a quadrotor unmanned aerial vehicle（UAV） equipped with a single down-looking vertically camera on the ground target using image-based visual servo（IBVS） *** features on a ground guidance cooperation mark flat are exploited to recognize and obtain the center pixel position of the mark,without the position and attitude estimation process,and direct compute flight control commands based on pixel level in image by control law,which all running on an onboard *** exploited two control schemes include visual velocity landing control and VICON position landing control to compare the control *** results are provided to illustrate and assess the performance of the proposed visual control strategy.