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http://dx.doi.org/10.5139/JKSAS.2022.50.9.639

Performance Comparison of Depth Map Based Landing Methods for a Quadrotor in Unknown Environment  

Choi, Jong-Hyuck (Department of Military Digital Convergence, Ajou University)
Park, Jongho (Department of Military Digital Convergence, Ajou University)
Lim, Jaesung (Department of Military Digital Convergence, Ajou University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.50, no.9, 2022 , pp. 639-646 More about this Journal
Abstract
Landing site searching algorithms are developed for a quadrotor using a depth map in unknown environment. Guidance and control system of Unmanned Aerial Vehicle (UAV) consists of a trajectory planner, a position and an attitude controller. Landing site is selected based on the information of the depth map which is acquired by a stereo vision sensor attached on the gimbal system pointing downwards. Flatness information is obtained by the maximum depth difference of a predefined depth map region, and the distance from the UAV is also considered. This study proposes three landing methods and compares their performance using various indices such as UAV travel distance, map accuracy, obstacle response time etc.
Keywords
Landing Site Search; Depth Map; Quadrotor; Stereo Vision; Unmanned Aerial Vehicle;
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