Matches in SemOpenAlex for { <https://semopenalex.org/work/W4225502313> ?p ?o ?g. }
Showing items 1 to 99 of
99
with 100 items per page.
- W4225502313 abstract "This paper proposes an image-based visual servoing (IBVS) method for a rotor unmanned aerial vehicle (UAV) to land on a boat with a downward-looking camera. The controller is designed in the image plane directly with the aid of image Jacobian matrix. In order to decouple the horizontal translation from the rotation of pitch angle and roll angle of the UAV, a virtual camera method is adopted to compensate the effect of UAV’s attitude changes. For the purpose of enabling the UAV to land from a high altitude, we design a nested 2D tag to ensure the detection within a large altitude range. However, due to the shake of the boat, the landing tag is no longer horizontal, which increases the difficulty of obtaining the desired position of the feature point. To solve the problem, we solely use the tag center in the image as the input, then the desired position of it will coincide with the image center of the virtual camera, irrespective of whether the tag is horizontal. Furthermore, Kalman filter is introduced to optimally estimate the position of the feature point with observation noise. Finally, simulation experiments based on Gazebo and the field experiments based on the deck simulation platform are conducted. The results show that our method can achieve a precise landing within errors of 0.2m from altitude around 50m." @default.
- W4225502313 created "2022-05-05" @default.
- W4225502313 creator A5003519037 @default.
- W4225502313 creator A5007054845 @default.
- W4225502313 creator A5015235357 @default.
- W4225502313 creator A5026008661 @default.
- W4225502313 creator A5039222132 @default.
- W4225502313 creator A5085719140 @default.
- W4225502313 date "2021-12-27" @default.
- W4225502313 modified "2023-09-28" @default.
- W4225502313 title "Autonomous Landing of a Rotor Unmanned Aerial Vehicle on a Boat Using Image-Based Visual Servoing" @default.
- W4225502313 cites W1490468191 @default.
- W4225502313 cites W1995067233 @default.
- W4225502313 cites W2082991751 @default.
- W4225502313 cites W2125188427 @default.
- W4225502313 cites W2463793248 @default.
- W4225502313 cites W2509603109 @default.
- W4225502313 cites W2564753640 @default.
- W4225502313 cites W2755168206 @default.
- W4225502313 cites W2767381775 @default.
- W4225502313 cites W2787678772 @default.
- W4225502313 cites W2969081574 @default.
- W4225502313 cites W3001711064 @default.
- W4225502313 cites W3083851947 @default.
- W4225502313 cites W3088894526 @default.
- W4225502313 doi "https://doi.org/10.1109/robio54168.2021.9739493" @default.
- W4225502313 hasPublicationYear "2021" @default.
- W4225502313 type Work @default.
- W4225502313 citedByCount "2" @default.
- W4225502313 countsByYear W42255023132022 @default.
- W4225502313 countsByYear W42255023132023 @default.
- W4225502313 crossrefType "proceedings-article" @default.
- W4225502313 hasAuthorship W4225502313A5003519037 @default.
- W4225502313 hasAuthorship W4225502313A5007054845 @default.
- W4225502313 hasAuthorship W4225502313A5015235357 @default.
- W4225502313 hasAuthorship W4225502313A5026008661 @default.
- W4225502313 hasAuthorship W4225502313A5039222132 @default.
- W4225502313 hasAuthorship W4225502313A5085719140 @default.
- W4225502313 hasConcept C10138342 @default.
- W4225502313 hasConcept C104317684 @default.
- W4225502313 hasConcept C105580179 @default.
- W4225502313 hasConcept C10912380 @default.
- W4225502313 hasConcept C115961682 @default.
- W4225502313 hasConcept C134066672 @default.
- W4225502313 hasConcept C138885662 @default.
- W4225502313 hasConcept C149364088 @default.
- W4225502313 hasConcept C154945302 @default.
- W4225502313 hasConcept C157286648 @default.
- W4225502313 hasConcept C158379750 @default.
- W4225502313 hasConcept C162324750 @default.
- W4225502313 hasConcept C185592680 @default.
- W4225502313 hasConcept C198082294 @default.
- W4225502313 hasConcept C2776401178 @default.
- W4225502313 hasConcept C31258907 @default.
- W4225502313 hasConcept C31972630 @default.
- W4225502313 hasConcept C41008148 @default.
- W4225502313 hasConcept C41895202 @default.
- W4225502313 hasConcept C55493867 @default.
- W4225502313 hasConcept C74050887 @default.
- W4225502313 hasConcept C99498987 @default.
- W4225502313 hasConceptScore W4225502313C10138342 @default.
- W4225502313 hasConceptScore W4225502313C104317684 @default.
- W4225502313 hasConceptScore W4225502313C105580179 @default.
- W4225502313 hasConceptScore W4225502313C10912380 @default.
- W4225502313 hasConceptScore W4225502313C115961682 @default.
- W4225502313 hasConceptScore W4225502313C134066672 @default.
- W4225502313 hasConceptScore W4225502313C138885662 @default.
- W4225502313 hasConceptScore W4225502313C149364088 @default.
- W4225502313 hasConceptScore W4225502313C154945302 @default.
- W4225502313 hasConceptScore W4225502313C157286648 @default.
- W4225502313 hasConceptScore W4225502313C158379750 @default.
- W4225502313 hasConceptScore W4225502313C162324750 @default.
- W4225502313 hasConceptScore W4225502313C185592680 @default.
- W4225502313 hasConceptScore W4225502313C198082294 @default.
- W4225502313 hasConceptScore W4225502313C2776401178 @default.
- W4225502313 hasConceptScore W4225502313C31258907 @default.
- W4225502313 hasConceptScore W4225502313C31972630 @default.
- W4225502313 hasConceptScore W4225502313C41008148 @default.
- W4225502313 hasConceptScore W4225502313C41895202 @default.
- W4225502313 hasConceptScore W4225502313C55493867 @default.
- W4225502313 hasConceptScore W4225502313C74050887 @default.
- W4225502313 hasConceptScore W4225502313C99498987 @default.
- W4225502313 hasFunder F4320321001 @default.
- W4225502313 hasLocation W42255023131 @default.
- W4225502313 hasOpenAccess W4225502313 @default.
- W4225502313 hasPrimaryLocation W42255023131 @default.
- W4225502313 hasRelatedWork W2051826626 @default.
- W4225502313 hasRelatedWork W2118183560 @default.
- W4225502313 hasRelatedWork W2331674254 @default.
- W4225502313 hasRelatedWork W2401401198 @default.
- W4225502313 hasRelatedWork W286997960 @default.
- W4225502313 hasRelatedWork W2979079341 @default.
- W4225502313 hasRelatedWork W4293869118 @default.
- W4225502313 hasRelatedWork W4366330678 @default.
- W4225502313 hasRelatedWork W2107326529 @default.
- W4225502313 hasRelatedWork W2152244067 @default.
- W4225502313 isParatext "false" @default.
- W4225502313 isRetracted "false" @default.
- W4225502313 workType "article" @default.