Abstract-We present a quadrotor system capable of autonomously landing on a moving platform using only onboard sensing and computing. We rely on state-of-the-art computer vision algorithms, multi-sensor fusion for localization of the robot, detection and motion estimation of the moving platform, and path planning for fully autonomous navigation. Our system does not require any external infrastructure, such as motioncapture systems. No prior information about the location of the moving landing target is needed. We validate our system in both synthetic and real-world experiments using low-cost and lightweight consumer hardware. To the best of our knowledge, this is the first demonstration of a fully autonomous quadrotor system capable of landing on a moving target, using only onboard sensing and computing, without relying on any external infrastructure. Video of the experiments: https://youtu.be/ Tz5ubwoAfNE
A recent work REF used computer vision algorithm for detecting a moving target using only an onboard camera.
Vision-based autonomous quadrotor landing on a moving platform
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)
Computer Science