Print Email Facebook Twitter Onboard Visual Control of a Quadcopter MAV performing a Landing Task Title Onboard Visual Control of a Quadcopter MAV performing a Landing Task: on a Platform of Unknown Size and Location Author Blom, Jari (TU Delft Aerospace Engineering; TU Delft Control & Simulation) Contributor de Croon, G.C.H.E. (graduation committee) Scheper, K.Y.W. (mentor) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2019-03-06 Abstract Vision based control allows Micro Air Vehicles (MAV) to move autonomously in GPS-denied environments, for example in indoor applications. An open issue in this field is landing on an unknown platform. The difficulty in visual control w.r.t. such an unknown platform, is a lack of scale. Without knowledge of the scale of offsets and object sizes (without height knowledge from GPS) it is difficult to determine an appropriate response from the controller. A control algorithm is designed to fit these requirements using an adaptation of an optical flow divergence based landing scheme, combined with an Image Based Visual Servoing approach applied to features in the Virtual Camera. The approach leads to satisfactory behavior in Gazebo simulations. It results in a robust controller for a range of starting heights and divergence settings. Subject AutonomousDroneVisual ServoingOptical FlowTracking To reference this document use: http://resolver.tudelft.nl/uuid:57cfce9e-75aa-42f1-bed4-64b64b927fb4 Part of collection Student theses Document type master thesis Rights © 2019 Jari Blom Files PDF full_thesis_Blom.pdf 3.16 MB Close viewer /islandora/object/uuid:57cfce9e-75aa-42f1-bed4-64b64b927fb4/datastream/OBJ/view