VFS Website
  • VIEW CART
  • CUSTOMER SUPPORT
  • MY STORE ACCOUNT
  • CONTACT US
  • STORE HOME
  • 5Prime
  • Forum Proceedings
  • Workshops
  • Technical Meetings
  • Vertiflite
  • Books, CDs & Gifts


Unable to log in or get member pricing? Having trouble changing your password?

Please review our Frequently Asked Questions for complete information on these and other common situations.
 

Vertical Flight Library & Store

CHECKOUT

0 Item(s) In Cart Total: $0.00


Vision Based Optimal Landing On a Moving Platform

Takuma Nakamura, Stephen Haviland, Dmitry Bershadsky, Eric Johnson, Georgia Tech

May 17, 2016

  • Your Path :
  • Home
  • > Vision Based Optimal Landing On a Moving Platform

On Sale: Vision Based Optimal Landing On a Moving Platform

  • Presented at Forum 72
  • 11 pages
  • SKU # : 72-2016-106

  • Your Price : $30.00
  • Join or log in to receive the member price of $5.00!


VFS member?
Don't add this to your cart just yet!
Be sure to log in first to receive the member price of $5.00!

 

Add to Wish List

Reward Value:
(60) Member Points

Vision Based Optimal Landing On a Moving Platform

Authors / Details: Takuma Nakamura, Stephen Haviland, Dmitry Bershadsky and Eric Johnson, Georgia Tech

Abstract
This paper describes a vision-based control architecture designed to enable autonomous landing on a moving platform. The landing trajectory is generated by using the receding-horizon differential dynamic programming (DDP), an optimal control method. The trajectory generation is aided by the output of a vision-based target tracking system. The vision system uses multiple extended Kalman filters which allows us to estimate the position and heading of the moving target via the observed locations. The combination of vision-based target tracking system and the receding-horizon DDP gives an unmanned aerial vehicle the capability to adaptively generate a landing trajectory against tracking errors and disturbances. Additionally, by adding the exterior penalty function to the cost of the DDP we can easily constrain the trajectory from collisions and physically infeasible solutions. We provide key mathematics needed for the implementation and share the results of the image-in-the-loop simulation and flight tests to validate the suggested methodology.

Popular Products

  • Master Card
  • Visa
  • American Express
  • Customer Support
  • Contact Us
  • Privacy and Security Policies
  • Refund Policies

Copyright © 2022 The Vertical Flight Society. All rights reserved.