Vision-based control for landing an aerial vehicle on a marine vessel

arXiv:2404.11336v1 Announce Type: cross
Abstract: This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by the design of the inner-loop control. At the second stage, the image features on the textured target plane are exploited to derive a vision-based control law. The image of the spherical centroid of a set of landmarks present in …

abstract aerial aircraft arxiv control cs.cv cs.ro cs.sy design eess.sy image landing loop marine moving platform simple type vision visual work