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JRM Vol.35 No.2 pp. 398-407
doi: 10.20965/jrm.2023.p0398
(2023)

Paper:

Detection and Localization of Thin Vertical Board for UAV Perching

Takamasa Kominami, Hannibal Paul, and Kazuhiro Shimonomura

Ritsumeikan University
1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan

Received:
October 7, 2022
Accepted:
January 23, 2023
Published:
April 20, 2023
Keywords:
UAV, drone, passive perching, image processing, autonomous landing
Abstract

An autonomous vision-based landing system with a passively driven perching mechanism for a UAV is described in this paper. In our previous research, we developed a passively driven perching mechanism that can land on various shapes. The goal of this study was to achieve automatic perching on a thin vertical board using the passive mechanism. For autonomous perching, an RGB-D camera was used to detect and track a perching target and automatically control the flight of the UAV to the target position. The combination of RGB-D tracking system for thin vertical board and self-position estimation from another tracking camera mounted on the UAV enabled automatic perching. The results of the experiment using the passively driven perching mechanism and autonomous system verified that it is possible to land on objects such as road signs at heights, by using the integrated system for object detection and UAV control. In the experiment, the UAV was controlled to fly autonomously to the vicinity of the target and then perched on a 2 mm thick board.

UAV perching on a thin board using passively driven perching mechanism

UAV perching on a thin board using passively driven perching mechanism

Cite this article as:
T. Kominami, H. Paul, and K. Shimonomura, “Detection and Localization of Thin Vertical Board for UAV Perching,” J. Robot. Mechatron., Vol.35 No.2, pp. 398-407, 2023.
Data files:
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