NDLI: Homography-based visual servoing of an aircraft for automatic approach and landing

Content Provider	IEEE Xplore Digital Library
Author	Gonçalves, T. Azinheira, J. Rives, P.
Copyright Year	2010
Description	Author affiliation: IDMEC/IST/TULisbon, 1 Av. Rovisco Pais, 1049-001 Lisbon, Portugal (Gonçalves, T.; Azinheira, J.) \|\| INRIA Sophia-Antipolis - Project ARobAS, 2004 Route des Lucioles, BP 93, 06902, France (Rives, P.)
Abstract	This paper proposes the Euclidean homography matrix as visual feature in an image-based visual servoing scheme in order to control an aircraft along the approach and landing phase. With a trajectory defined in the image space by a sequence of equidistant key images along the glidepath, an interpolation in the homography space is also proposed in order to reduce the database size and ensure the required smoothness of the control task. In addition, a pan-tilt control was taken into account to respect the dynamics of the aircraft during manoeuvres and in the presence of wind perturbations. An optimal control design based on the linearized model of the aircraft dynamics is then consider to cancel the visual error function. To demonstrate the proposed concept, simulation results under realistic atmospheric disturbances are presented.
Starting Page	9
Ending Page	14
File Size	746994
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509496
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Aircraft Aerospace control Atmospheric modeling Automatic control Interpolation Image databases Visual databases Size control Optimal control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Visual servoing: path interpolation by homography decomposition

Autonomous landing of a VTOL UAV on a moving platform using image-based visual servoing

Homography-based 2D visual servoing

A Vision-Based Automatic Landing Method for Fixed-Wing UAVs

Visual servoing for underactuated VTOL UAVs: A linear, Homography-Based Approach

Switched Homography-Based Visual Control of Differential Drive Vehicles with Field-of-View Constraints

Automatic landing on aircraft carrier by visual servoing

Uncalibrated image-based visual servoing

Backstepping based visual servoing for transport aircraft automatic landing

Homography-based visual servoing of an aircraft for automatic approach and landing

Similar Documents

Visual servoing: path interpolation by homography decomposition

Autonomous landing of a VTOL UAV on a moving platform using image-based visual servoing

Homography-based 2D visual servoing

A Vision-Based Automatic Landing Method for Fixed-Wing UAVs

Visual servoing for underactuated VTOL UAVs: A linear, Homography-Based Approach

Switched Homography-Based Visual Control of Differential Drive Vehicles with Field-of-View Constraints

Automatic landing on aircraft carrier by visual servoing

Uncalibrated image-based visual servoing

Backstepping based visual servoing for transport aircraft automatic landing

Homography-based visual servoing of an aircraft for automatic approach and landing