Monocular visual autonomous landing system for quadcopter drones using software in the loop

• URL: http://arxiv.org/abs/2108.06616v1
• Date: Sat, 14 Aug 2021 21:28:28 GMT
• Title: Monocular visual autonomous landing system for quadcopter drones using software in the loop
• Authors: Miguel Saavedra-Ruiz, Ana Mario Pinto-Vargas, Victor Romero-Cano
• Abstract summary: A monocular vision-only approach to landing pad tracking made it possible to effectively implement the system in an F450 quadcopter drone. The proposed monocular vision-only approach to landing pad tracking made it possible to effectively implement the system in an F450 quadcopter drone with the standard computational capabilities of an Odroid XU4 embedded processor.
• Score: 0.696125353550498
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Autonomous landing is a capability that is essential to achieve the full potential of multi-rotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and resource-intensive; hence, in order to ensure both a sound design process and a safe deployment, simulations are required before implementing a physical prototype. This paper presents the development of a monocular visual system, using a software-in-the-loop methodology, that autonomously and efficiently lands a quadcopter drone on a predefined landing pad, thus reducing the risks of the physical testing stage. In addition to ensuring that the autonomous landing system as a whole fulfils the design requirements using a Gazebo-based simulation, our approach provides a tool for safe parameter tuning and design testing prior to physical implementation. Finally, the proposed monocular vision-only approach to landing pad tracking made it possible to effectively implement the system in an F450 quadcopter drone with the standard computational capabilities of an Odroid XU4 embedded processor.

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