Eagle Vision-Based Coordinate Landing Control Framework of Unmanned Aerial Vehicles on an Unmanned Surface Vehicle

Yang Yuan; Xiaobin Xu; Haibin Duan; Zhigang Zeng; Dukun Xu; Rujia Chen; Tongyan Wu

doi:10.1142/S2737480722500236

Eagle Vision-Based Coordinate Landing Control Framework of Unmanned Aerial Vehicles on an Unmanned Surface Vehicle

Yang Yuan
, Xiaobin Xu
, Haibin Duan^*
, Zhigang Zeng^*
, Dukun Xu
, Rujia Chen
, Tongyan Wu

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University
Peng Cheng Laboratory
Huazhong University of Science and Technology

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

The coordinate landing control of the unmanned aerial vehicles (UAVs) is a key technology to expand the cooperation between the UAVs and the unmanned surface vehicle (USV). This paper provides an eagle vision-based coordinate landing control framework for the UAV swarm landing on a USV. Back-stepping controller is designed to guarantee that the tracking errors in both of the approaching stage and the landing stage converge to zero. Eagle vision is applied in the visual navigation to improve the landing accuracy. The experiment verified the feasibility of the proposed method.

Original language	English
Article number	2250023
Journal	Guidance, Navigation and Control
Volume	2
Issue number	4
DOIs	https://doi.org/10.1142/S2737480722500236
State	Published - 1 Dec 2022

Keywords

Coordinate landing control framework
back-stepping controller
eagle vision

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10.1142/S2737480722500236

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title = "Eagle Vision-Based Coordinate Landing Control Framework of Unmanned Aerial Vehicles on an Unmanned Surface Vehicle",

abstract = "The coordinate landing control of the unmanned aerial vehicles (UAVs) is a key technology to expand the cooperation between the UAVs and the unmanned surface vehicle (USV). This paper provides an eagle vision-based coordinate landing control framework for the UAV swarm landing on a USV. Back-stepping controller is designed to guarantee that the tracking errors in both of the approaching stage and the landing stage converge to zero. Eagle vision is applied in the visual navigation to improve the landing accuracy. The experiment verified the feasibility of the proposed method.",

keywords = "Coordinate landing control framework, back-stepping controller, eagle vision",

author = "Yang Yuan and Xiaobin Xu and Haibin Duan and Zhigang Zeng and Dukun Xu and Rujia Chen and Tongyan Wu",

note = "Publisher Copyright: {\textcopyright} 2022 Technical Committee on Guidance, Navigation and Control, CSAA.",

year = "2022",

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T1 - Eagle Vision-Based Coordinate Landing Control Framework of Unmanned Aerial Vehicles on an Unmanned Surface Vehicle

AU - Yuan, Yang

AU - Xu, Xiaobin

AU - Duan, Haibin

AU - Zeng, Zhigang

AU - Xu, Dukun

AU - Chen, Rujia

AU - Wu, Tongyan

PY - 2022/12/1

Y1 - 2022/12/1

N2 - The coordinate landing control of the unmanned aerial vehicles (UAVs) is a key technology to expand the cooperation between the UAVs and the unmanned surface vehicle (USV). This paper provides an eagle vision-based coordinate landing control framework for the UAV swarm landing on a USV. Back-stepping controller is designed to guarantee that the tracking errors in both of the approaching stage and the landing stage converge to zero. Eagle vision is applied in the visual navigation to improve the landing accuracy. The experiment verified the feasibility of the proposed method.

AB - The coordinate landing control of the unmanned aerial vehicles (UAVs) is a key technology to expand the cooperation between the UAVs and the unmanned surface vehicle (USV). This paper provides an eagle vision-based coordinate landing control framework for the UAV swarm landing on a USV. Back-stepping controller is designed to guarantee that the tracking errors in both of the approaching stage and the landing stage converge to zero. Eagle vision is applied in the visual navigation to improve the landing accuracy. The experiment verified the feasibility of the proposed method.

KW - Coordinate landing control framework

KW - back-stepping controller

KW - eagle vision

UR - https://www.scopus.com/pages/publications/85166591233

U2 - 10.1142/S2737480722500236

DO - 10.1142/S2737480722500236

M3 - 文章

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SN - 2737-4807

VL - 2

JO - Guidance, Navigation and Control

JF - Guidance, Navigation and Control

IS - 4

M1 - 2250023

ER -

Eagle Vision-Based Coordinate Landing Control Framework of Unmanned Aerial Vehicles on an Unmanned Surface Vehicle

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Keywords

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