Autonomous UAV Landing System using Imagery Map and Marker Recognition
Ki-Hyang Kim, Sung Soo Hwang · Journal of Institute of Control Robotics and Systems · 2018
This paper presents an autonomous landing system for a small unmanned aerial vehicle (UAV). The proposed system utilizes a simultaneous localization and mapping algorithm to approach a pre-defined marker. As the UAV approaches the marker, the proposed system elevates the altitude of the UAV such that the perception of the marker is improved. Thereafter, Hough transform is used to recognize the marker and the UAV is landed on the marker accurately by utilizing altitude-varying PID control. Experimental results show that the proposed system accurately detects and lands a small UAV. We believe that the proposed system can be used for wireless battery charging systems and can be applied to UAVs in various industrial fields.