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Hardware-in-the-loop Simulation of Aircraft Machine-Vision-Based Autonomous Landing

Abbasi Jokandan, Amin | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 44138 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Saghafi, Fariborz; Kasaei, Shohreh
  7. Abstract:
  8. This project aims to present a solution in order to navigate and control a fixed wing Unmanned Air Vehicle (UAV) for the landing phase using position-based visual servoing (PBVS) and then implement the Hardware-in-the-loop simulation for that objective. In all phases of the simulation, it is assumed that a camera is attached under the UAV nose and is aligned with the UAV body x-axis. Initially, the situation wherein the UAV should be able to estimate its relative position by the Haralic algorithm based on four points as runway features and then give the command to a PID controller for autolanding will be simulated. Afterwards, a real camera should capture the runway image created by virtual reality from a monitor which is linked to the host computer. Subsequent to sending the captured images to the simulation loop, images are processed and then the UAV position is estimated. As such, the controller is able to land the UAV applying the navigation and control law. In more similar studies, image based visual servoing (IBVS) has been employed as an image processing-based solution in order to develop control commands, while in this project the PBVS has been used and higher accuracy has been obtained compared to the IBVS. In addition, the hardware-in-the-loop simulation has been implemented which has not been considered in similar studies
  9. Keywords:
  10. Machine Vision ; Automatic Landing ; Unmanned Aircrafts ; Hardware Simulation ; Proportional-Integral-Derivative (PID)Controller

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