论文标题
无人机在移动平台上的精确着陆，用于户外应用
Precision Landing of a UAV on a Moving Platform for Outdoor Applications
论文作者
论文摘要
随着无人机技术的改善，从监视到航空摄影再到包装交付的这些多功能自动驾驶汽车，已经发现了更多用途，这些应用都带来了独特的挑战。本文实施了一个解决一个挑战的解决方案：降落在移动目标上。此问题以前已经通过不同程度的成功解决了，但是大多数实施都集中在室内应用程序上。户外以风和照明等变量的形式提出了更大的挑战，室外无人机更重，更容易受到惯性效应的影响。我们的方法纯粹是基于视觉的，使用单眼摄像机和基准标记来定位无人机和PID控制，以跟随并降落在平台上。
As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these applications poses unique challenges. This paper implements a solution for one such challenge: To land on a moving target. This problem has been addressed before with varying degrees of success, however, most implementations focus on indoor applications. Outdoor poses greater challenges in the form of variables such as wind and lighting, and outdoor drones are heavier and more susceptible to inertial effects. Our approach is purely vision based, using a monocular camera and fiducial markers to localize the drone and a PID control to follow and land on the platform.
