UAV precision landing on moving boat
Landing an unmanned aerial vehicle on a moving boat has long been a stumbling block in the development of fully autonomous flight, which has enormous promise for commercial and military uses. Thus, in this project, a solution is to attach a servo motor-based Stewart platform to the bottom of the UAV...
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| Format: | Final Year Project |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/158244 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Landing an unmanned aerial vehicle on a moving boat has long been a stumbling block in the development of fully autonomous flight, which has enormous promise for commercial and military uses. Thus, in this project, a solution is to attach a servo motor-based Stewart platform to the bottom of the UAV as landing gear and to detect the platform's orientation using a stereo camera and an onboard PC running ROS. The suggested landing algorithm makes use of a variety of control approaches, including a rotation matrix and a posture restriction, to assure the UAV's stability and landing accuracy.
This landing approach was validated in a simulated environment to assure its reliability. According to the test results, it is capable of landing accurately on both fixed tilted and moving surfaces. |
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