Show simple item record

dc.contributor.authorPolvara, R
dc.contributor.authorsharma, sanjay
dc.contributor.authorWan, Jian
dc.contributor.authorManning, Andrew
dc.contributor.authorSutton, R
dc.date.accessioned2018-04-20T10:59:06Z
dc.date.issued2018-04-14
dc.identifier.issn2504-446X
dc.identifier.issn2504-446X
dc.identifier.otherARTN 15
dc.identifier.urihttp://hdl.handle.net/10026.1/11309
dc.description.abstract

<jats:p>Autonomous landing on the deck of an unmanned surface vehicle (USV) is still a major challenge for unmanned aerial vehicles (UAVs). In this paper, a fiducial marker is located on the platform so as to facilitate the task since it is possible to retrieve its six-degrees of freedom relative-pose in an easy way. To compensate interruption in the marker’s observations, an extended Kalman filter (EKF) estimates the current USV’s position with reference to the last known position. Validation experiments have been performed in a simulated environment under various marine conditions. The results confirmed that the EKF provides estimates accurate enough to direct the UAV in proximity of the autonomous vessel such that the marker becomes visible again. Using only the odometry and the inertial measurements for the estimation, this method is found to be applicable even under adverse weather conditions in the absence of the global positioning system.</jats:p>

dc.format.extent15-15
dc.languageen
dc.language.isoen
dc.publisherMDPI AG
dc.subjectunmanned aerial vehicle
dc.subjectposition control
dc.subjectcomputer vision
dc.subjectimage processing
dc.titleVision-Based Autonomous Landing of a Quadrotor on the Perturbed Deck of an Unmanned Surface Vehicle
dc.typejournal-article
dc.typeJournal Article
plymouth.author-urlhttps://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000646332800001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008
plymouth.issue2
plymouth.volume2
plymouth.publication-statusPublished online
plymouth.journalDrones
dc.identifier.doi10.3390/drones2020015
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Biological and Marine Sciences
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA07 Earth Systems and Environmental Sciences
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA12 Engineering
plymouth.organisational-group/Plymouth/Research Groups
plymouth.organisational-group/Plymouth/Research Groups/Marine Institute
plymouth.organisational-group/Plymouth/Users by role
plymouth.organisational-group/Plymouth/Users by role/Academics
plymouth.organisational-group/Plymouth/Users by role/Researchers in ResearchFish submission
dcterms.dateAccepted2018-04-11
dc.rights.embargodate2018-6-15
dc.identifier.eissn2504-446X
dc.rights.embargoperiodNot known
rioxxterms.versionofrecord10.3390/drones2020015
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserved
rioxxterms.licenseref.startdate2018-04-14
rioxxterms.typeJournal Article/Review


Files in this item

Thumbnail
Thumbnail

This item appears in the following Collection(s)

Show simple item record


All items in PEARL are protected by copyright law.
Author manuscripts deposited to comply with open access mandates are made available in accordance with publisher policies. Please cite only the published version using the details provided on the item record or document. In the absence of an open licence (e.g. Creative Commons), permissions for further reuse of content should be sought from the publisher or author.
Theme by 
Atmire NV