Vision Assisted Autonomous Landing of an Unmanned Aerial Vehicle.

  title={Vision Assisted Autonomous Landing of an Unmanned Aerial Vehicle.},
  author={V. Chitrakaran and D. M. Dawson and Jian Chen and M. Feemster},
  journal={Proceedings of the 44th IEEE Conference on Decision and Control},
In this paper, a strategy for an autonomous landing maneuver for an underactuated, unmanned aerial vehicle (UAV) using position information obtained from a single monocular on-board camera is presented. Although the UAV is underactuated in translational control inputs (i.e., a lift force can only be produced), the proposed controller is shown to achieve globally uniform ultimate boundedness (GUUB) in position regulation error during the landing approach. The proposed vision-based control… CONTINUE READING
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