This paper presents a method for vision-based landing of a multirotor unmanned aerial vehicle (UAV) on an autonomous surface vehicle (ASV) equipped with a helipad. The method includes a mechanism for helipad behavioural search when outside the UAV's field of view, a learning saliency-based mechanism for visual tracking the helipad, and a cooperative strategy for the final vision-based landing phase. Learning how to track the helipad from above occurs during takeoff and cooperation results from having the ASV tracking the UAV for assisting its landing. A set of experimental results with both simulated and physical robots show the feasibility of the presented method.
|Title of host publication||2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014|
|Number of pages||8|
|Publication status||Published - 2014|
|Event||2014 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Bali, Indonesia|
Duration: 5 Dec 2014 → 10 Dec 2014
|Conference||2014 IEEE International Conference on Robotics and Biomimetics (ROBIO)|
|Period||5/12/14 → 10/12/14|