Machine-Vision-Based Auotomatic Landing of Unmanned Helicopter

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Nasirian, Behnam | 2013

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 45670 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Saghafi, Fariborz
Abstract:
In this project an algorithm is designed for automatic landing of unmanned helicopter on a pad moving with six degrees of freedom. The designed controller is based on state dependent riccati equations (SDRE).by developing nonlinear mathematical model of helicopter and then converting this model to state dependent coefficient (SDC) form. A nonlinear compensator is added to controller to compensate effect of some nonlinear terms of model that are not able to translate and then state dependent riccati equations are solved.
The relative pose-estimation of landing pad is based on vision. Corner detection algorithm is used to identify and detect features by processing of image taken from whole of landing pad. This estimated relative position enters to SDRE control system as output of navigation system and then SDRE controller produce proper control command. Performance of designed controller in helicopter landing on a pad with translational and rotational movement is investigated by a computer simulation. Sub-optimality, short run time and appropriate controller performance in minimizing of tracking errors are some of results obtained in this simulation
Keywords:
Unmanned Helicopter ; Automatic Landing ; Machine Vision ; State Dependent Riccati Equation

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