A Vision-Based Unmanned Helicopter Ship Board Landing System

Author

Bagen, Wulan ; Hu, Jizhong ; Xu, Yuanming

Author_Institution

Sch. of Aeronaut. Sci. & Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2009

fDate

17-19 Oct. 2009

Firstpage

1

Lastpage

5

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.

Keywords

Kalman filters; PI control; helicopters; remotely operated vehicles; robot vision; Kalman filter; PI controller; affine moment invariants; fuzzy recognition; unmanned helicopter; vision-based system; Equations; Helicopters; Machine vision; Marine vehicles; Object recognition; Optimal control; Robustness; Shape; System testing; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Image and Signal Processing, 2009. CISP '09. 2nd International Congress on

Conference_Location

Tianjin

Print_ISBN

978-1-4244-4129-7

Electronic_ISBN

978-1-4244-4131-0

Type

conf

DOI

10.1109/CISP.2009.5305201

Filename

5305201