A Vision-Based Unmanned Helicopter Ship Board Landing System
Abstract:
We design a vision-based system to enable an unmanned
helicopter to land on a ship. Based on affine moment invariants, fuzzy
recognition, Kalman filter and a PI controller, the helicopter can identify a
target, track it, and land on it while the ship is in motion even oscillation.
A simulation system, including an unmanned helicopter and a ship, has been
developed for test our ideas. Simulation results validate our algorithm. In
simulation our algorithm has successfully isolated the influence of
helicopter's oscillation and found the best threshold between performance and
precision. The results shown that our algorithm is robust, the tracker can
track target in two-dimensions very well.
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