Vision Based Automatic Landing with Runway Identification and Tracking

Tripathi, AK and Patel, VV and Padhi, R (2018) Vision Based Automatic Landing with Runway Identification and Tracking. In: 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 18 - 21 November 2018, Singapore, pp. 1442-1447.

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Abstract

Vision based autolanding of a fixed wing unmanned aerial vehicle (UAV) is presented in this paper. The UAV initially searches for a nearby unknown road or runway from the terrain image frames captured by onboard stereovision camera. The captured unknown road or runway are evaluated to be a possible candidate for autolanding of a UAV. Six degree of freedom (6DOF) simulink model of a UAV with landing and navigation autopilot is integrated with flightgear flight simulation software. Flightgear FG camera is used to capture image frames of the nearyby terrain while UAV is in auto navigation mode and performing a level flight with various heading angles to look out for all possible terrain scenario. Image processing techniques are applied on the captured video to identify a smooth and straight road or runway for landing and calculates the relative distance and orientation of the runway or road with respect to UAV's own location. Image processing techniques such as hough transform and random Sample consensus (RANSAC) are used to detect the road strip lines. Once the desired touchdown point on the road is computed as well as road heading is also computed, UAV begins the autolanding maneuver. The image processing techniques are used to identify the candidate road or runway. The heading of the runway and cross track of the runway is computed and autopilot is designed to bring the aircraft at desired touch down point on the road or runway.

Item Type:	Conference Paper
Publication:	2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Air navigation; Aircraft landing; Antennas; Cameras; Computer software; Computer vision; Degrees of freedom (mechanics); Feature extraction; Fixed wings; Flight simulators; Free flight; Hough transforms; Landforms; Robotics; Robots; Unmanned aerial vehicles (UAV), Automatic landing; Flight simulation software; Image processing technique; Random sample consensus; Relative distances; Simulink modeling; Six degree-of-freedom; Touchdown points, Roads and streets
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	29 Jul 2022 11:29
Last Modified:	29 Jul 2022 11:29
URI:	https://eprints.iisc.ac.in/id/eprint/75051

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