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Performance Comparison of Depth Map Based Landing Methods for a Quadrotor in Unknown Environment
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Publication Year
2022-09-01
Journal
Journal of the Korean Society for Aeronautical and Space Sciences
Publisher
Korean Society for Aeronautical and Space Sciences
Citation
Journal of the Korean Society for Aeronautical and Space Sciences, Vol.50 No.9, pp.639-646
Keyword
Depth MapLanding Site SearchQuadrotorStereo VisionUnmanned Aerial Vehicle
All Science Classification Codes (ASJC)
Aerospace Engineering
Abstract
Landing site searching algorithms are developed for a quadrotor using a depth map in unknown environment. Guidance and control system of Unmanned Aerial Vehicle (UAV) consists of a trajectory planner, a position and an attitude controller. Landing site is selected based on the information of the depth map which is acquired by a stereo vision sensor attached on the gimbal system pointing downwards. Flatness information is obtained by the maximum depth difference of a predefined depth map region, and the distance from the UAV is also considered. This study proposes three landing methods and compares their performance using various indices such as UAV travel distance, map accuracy, obstacle response time etc.
ISSN
2287-6871
Language
eng
URI
https://aurora.ajou.ac.kr/handle/2018.oak/33107
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85143500162&origin=inward
DOI
https://doi.org/10.5139/jksas.2022.50.9.639
Journal URL
http://eng.jksas.or.kr/sub/sub4_03.asp
Type
Article
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Lim, Jae Sung Image
Lim, Jae Sung임재성
Department of Military Digital Convergence
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