Vision Based Position Control for Vertical Take-off and Landing (VTOL) Using One Singular Landmark

  •  Hairol Nizam Mohd Shah    
  •  Zalina Kamis    
  •  Azhar Ahmad    
  •  Mohd Rizuan Baharon    
  •  Muhd Akmal Noor Rajikon    
  •  Kang Hui Hwa    


This project presents a vision based position control for Vertical Take-off and Landing (VTOL) to recognise a singular landmark for landing and take-off. Position control can provide safe flight and an accurate navigation. The circle landmark which used is an artificial landmark at known locations in an environment. Initially, a camera mounted on VTOL facing downward detecting landmarks in environments. A single circle used as landmark and VTOL will be control the position to reach the landmark. The images from the down-looking camera provided vision data to estimates position of VTOL from landmark. A mathematical method based on projective geometry using to locate VTOL on desired landmark from projected point in capture image. By compute the x-y coordinates of the VTOL with respect to landmark, height of camera above landmark will be obtained. VTOL can localize itself in known environment with pose estimation from landmark. The graphic user interface system (GUI) generate by MATLAB software is used to communicate with VTOL to control the VTOL position

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