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Autonomous landing of a quadrotor UAV using vision and infrared markers for pose estimation

: Jimenez, J.
: Schwiegelshohn, U.; Czarnetzki, S.

Volltext urn:nbn:de:0011-n-1631484 (11 MByte PDF)
MD5 Fingerprint: 37c2b62b24b83bec082d3802754864e7
Erstellt am: 26.5.2011

Dortmund, 2011, 77 S.
Dortmund, TU, Master Thesis, 2011
Master Thesis, Elektronische Publikation
Fraunhofer IAIS ()
robotics; quadrotor; UAV; autonomous landing; infrared LED; image processing; PID controller

This thesis presents a system to land autonomously a quadrotor UAV on a static platform. It uses a web camera pointing upwards inside the landing platform and infrared LEDs on the quadrotor as markers. The web camera has an infrared cut-o ff fi lter attached to detect the infrared LEDs on the quadrotor when it flies over the platform. By means of image processing the points formed by the infrared LEDs are found in the image. These points are then identi ed and labeled to match the LED on the quadrotor that produced them. Using the location of these points in the image and on the quadrotor and the intrinsic parameters of the camera, the extrinsic parameters of the camera are calculated, i.e. the position and orientation of the quadrotor with respect to the camera. The position of the quadrotor is used as the input to four PID controllers that work simultaneously to keep the quadrotor in the center of the field of view of the camera while it descends and lands on the platform. Tests of the position estimation and control algorithms are presented. The system for autonomous landing is tested under no disturbances, static wind and dynamic wind conditions. Manual landings were performed and compared with the autonomous landing.