Optically-Guided Multirotor Autonomous Descent and Landing on a Moving Target
| dc.contributor.advisor | Isukapalli, Yogananda | |
| dc.contributor.author | Dupree, Matthew | |
| dc.contributor.author | Zhu, Yingchao | |
| dc.date.accessioned | 2022-10-06T17:57:50Z | |
| dc.date.available | 2022-10-06T17:57:50Z | |
| dc.date.issued | 2021-10 | |
| dc.identifier.citation | Dupree, M., & Zhu, Y. (2021). Optically-Guided Multirotor Autonomous Descent and Landing on a Moving Target. International Telemetering Conference Proceedings, 56. | |
| dc.identifier.issn | 1546-2188 | |
| dc.identifier.issn | 0884-5123 | |
| dc.identifier.issn | 0074-9079 | |
| dc.identifier.uri | http://hdl.handle.net/10150/666254 | |
| dc.description.abstract | We demonstrate the use of the AprilTag visual fiducial system for the precision landing of a multirotor vehicle on a moving target with no GPS use after target acquisition. Existing IR-LOCK precision landing code in a PixHawk flight controller with ArduCopter firmware is repurposed for passive ground target tracking using position information from a Raspberry Pi and PiCam, configured to identify and track a paper AprilTag. Debugging telemetry during development was exported by MAVLINK over 802.11ac Wi-Fi. The Apriltag removes the need for an active, IR- or RF-emitting ground beacon, allowing for precise aid delivery to unpowered disaster sites without necessitating human multicopter pilots be nearby for short-range work, nor cluttering longer-range cellular and radio bands. AprilTags allow for a sufficiently low false-positive rate to be used in debris-strewn environments and sufficient positional accuracy to land on small dinghies in flood zones or in the bed of an aid pickup truck. | |
| dc.description.sponsorship | International Foundation for Telemetering | |
| dc.language.iso | en | |
| dc.publisher | International Foundation for Telemetering | |
| dc.relation.url | http://www.telemetry.org/ | |
| dc.rights | Copyright © held by the author; distribution rights International Foundation for Telemetering | |
| dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | |
| dc.title | Optically-Guided Multirotor Autonomous Descent and Landing on a Moving Target | |
| dc.type | Proceedings | |
| dc.type | text | |
| dc.contributor.department | University of California, Santa Barbara | |
| dc.identifier.journal | International Telemetering Conference Proceedings | |
| dc.description.collectioninformation | Proceedings from the International Telemetering Conference are made available by the International Foundation for Telemetering and the University of Arizona Libraries. Visit https://telemetry.org/contact-us/ if you have questions about items in this collection. | |
| dc.eprint.version | Final published version | |
| dc.source.journaltitle | International Telemetering Conference Proceedings | |
| refterms.dateFOA | 2022-10-06T17:57:50Z |
