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Vision aided automatic landing system for fixed wing UAV

Laiacker, Maximilian and Kondak, Konstantin and Schwarzbach, Marc and Muskardin, Tin (2013) Vision aided automatic landing system for fixed wing UAV. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2971-2976. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 3.-8. Nov. 2013, Tokyo, Japan.

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Abstract

In this paper, we present a multi-sensor system for automatic landing of fixed wing UAVs. The system is composed of a high precision aircraft controller and a vision module which is currently used for detection and tracking of runways. Designing the system we paid special attention to its robustness. The runway detection algorithm uses a maximum amount of information in images and works with high level geometrical models. It allows detecting a runway under different weather conditions even if only a small part is visible in the image. In order to increase landing reliability under sub-optimal wind conditions, an additional loop was introduced into the altitude controller. All control and image processing is performed onboard. The system has been successfully tested in flight experiments with two different fixed wing platforms at various weather conditions, in summer, fall and winter.

Item URL in elib:https://elib.dlr.de/87265/
Document Type:Conference or Workshop Item (Speech)
Title:Vision aided automatic landing system for fixed wing UAV
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Laiacker, MaximilianUNSPECIFIEDUNSPECIFIED
Kondak, KonstantinUNSPECIFIEDUNSPECIFIED
Schwarzbach, MarcUNSPECIFIEDUNSPECIFIED
Muskardin, TinUNSPECIFIEDUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 2971-2976
Status:Published
Keywords:multi-sensor system automatic landing fixed wing UAV
Event Title:Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:3.-8. Nov. 2013
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Schwarzbach, Marc
Deposited On:08 Jan 2014 10:06
Last Modified:09 Feb 2017 19:19

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