Observatorio de I+D+i UPM

Descripción
In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the movement of a ship landing platform on the Sea, for different Sea States, for different ships, randomly and realistically enough. We use a commercial parallel robot to get this movement. Once we had this, we developed an accurate and robust computer vision system to measure the pose of the helipad with respect to the on-board camera. To deal with the noise and the possible fails of the computer vision, a state estimator was created. With all of this, we are now able to develop and test a controller that closes the loop and finish the autonomous landing task.
Internacional	Si
Nombre congreso	2013 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS)
Tipo de participación	960
Lugar del congreso	Atlanta, Georgia (UZA)
Revisores	Si
ISBN o ISSN	978-1-4799-0815-8
DOI	10.1109/ICUAS.2013.6564760
Fecha inicio congreso	28/05/2013
Fecha fin congreso	31/05/2013
Desde la página	779
Hasta la página	788
Título de las actas	Toward Visual Autonomous Ship Board Landing of a VTOL UAV

Esta actividad pertenece a memorias de investigación

• Autor: Jose Luis Sanchez Lopez (UPM)
• Autor: Srikanth Saripalli (Arizona State University (USA))
• Autor: Pascual Campoy Cervera (UPM)
• Autor: Jesus Pestana Puerta (UPM)
• Autor: Fu Changhong . (UPM)

• Creador: Grupo de Investigación: Computer Vision
• Departamento: Automática, Ingeniería Electrónica e Informática Industrial
• Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC