Autonomous ship board landing of a VTOL UAV Conference Paper

abstract

• We present the design and implementation of a vision based autonomous landing algorithm using a downward looking camera. To demonstrate the efficacy of our algorithms we emulate the dynamics of the ship-deck, for various sea states and different ships using a 6DOF motion platform. We then present the design and implementation of our robust computer vision system to measure the pose of the shipdeck w.r.t to the vehicle. A Kalman filter is used in conjunction with our vision system to ensure the robustness of the estimates. We demonstrate the accuracy and robustness of our system to occlusions, variation in intensity, etc. using our testbed. Copyright 2013 by the American Helicopter Society International, Inc. All rights reserved.

authors

• Saripalli, Srikanth

published proceedings

• Annual Forum Proceedings - AHS International

author list (cited authors)

• Sanchez-Lopez, J. L., Saripalli, S., & Campoy, P.

complete list of authors

• Sanchez-Lopez, JL||Saripalli, S||Campoy, P

publication date

• September 2013

published in

• Annual Forum Proceedings - AHS International  Journal

International Standard Book Number (ISBN) 13

• 9781627486514

start page

• 798

end page

• 807

volume

• 1