DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Shim, Hyun-Chul | - |
dc.contributor.advisor | 심현철 | - |
dc.contributor.author | Huh, Sung-Sik | - |
dc.contributor.author | 허성식 | - |
dc.date.accessioned | 2011-12-12T07:23:40Z | - |
dc.date.available | 2011-12-12T07:23:40Z | - |
dc.date.issued | 2009 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=308930&flag=dissertation | - |
dc.identifier.uri | http://hdl.handle.net/10203/27054 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 항공우주공학전공, 2009.2, [ vii, 70 p. ] | - |
dc.description.abstract | This thesis is focused on a vision-based landing system for fixed-wing unmanned aerial vehicles (UAVs) using an inflated airbag. As the statistics show, the landing stage is identified as most accident-prone among the entire flight regimes due to the complicated dynamics, difficult control characteristics and its dependency on many external factors such as wind conditions. Therefore there have been many attempts to automate the landing process on conventional runways or external arresting mechanisms such as ropes or nets. In this thesis, a relatively simple yet highly effective vision-based landing method using an inflated airbag is proposed. A Blended Wing-body(BWB) UAV hardware is set up for experiments and the identified system model is used for designing an autopilot controller. The airbag has a dome shape so that the airplane can approach from any direction, unlike the net-based approach that may suffer from crosswind. The dome`s distinctive color and shape provide unmistakably strong yet passive visual cue for the onboard vision system, which runs a fast and robust vision algorithm for geolocation and visual servoing. In terminal landing phase, the vehicle is controlled only by visual servoing commands without resorting to INS. The proposed idea has been validated in a series of experiments and the experiment results show that the proposed method is a viable approach for field applications without the need of expensive aiding systems. | eng |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | UAV | - |
dc.subject | Automatic Landing | - |
dc.subject | Visual Servoing | - |
dc.subject | Flight Control | - |
dc.subject | Computer Vision | - |
dc.subject | 무인항공기 | - |
dc.subject | 자동착륙 | - |
dc.subject | 비주얼서보잉 | - |
dc.subject | 비행제어 | - |
dc.subject | 컴퓨터비전 | - |
dc.subject | UAV | - |
dc.subject | Automatic Landing | - |
dc.subject | Visual Servoing | - |
dc.subject | Flight Control | - |
dc.subject | Computer Vision | - |
dc.subject | 무인항공기 | - |
dc.subject | 자동착륙 | - |
dc.subject | 비주얼서보잉 | - |
dc.subject | 비행제어 | - |
dc.subject | 컴퓨터비전 | - |
dc.title | (A) vision-based automatic landing of fixed-wing UAVs | - |
dc.title.alternative | 고정익 무인항공기의 영상기반 자동착륙 연구 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 308930/325007 | - |
dc.description.department | 한국과학기술원 : 항공우주공학전공, | - |
dc.identifier.uid | 020073626 | - |
dc.contributor.localauthor | Shim, Hyun-Chul | - |
dc.contributor.localauthor | 심현철 | - |
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