Autonomous Quadrotor Landing Using Vision and Pursuit Guidance Academic Article

abstract

• 2017 Autonomous landing is the most difficult maneuver in a quadrotor mission because of challenges like (i) external disturbances causing deviation from the desired trajectory resulting in a crash and (ii) inaccuracy of GPS based landing due to localization errors. In this paper, we use onboard vision to detect and estimate the landing pad coordinates accurately. We develop a novel closing velocity controller and integrate it with pure pursuit guidance law to achieve faster and accurate landing in 3D as compared to traditional vertical landing approaches. We test the efficacy of the proposed controller for stationary and moving landing pad through simulations and validate the controller through outdoor experiments for a stationary landing pad.

authors

• Saripalli, Srikanth

published proceedings

• IFAC PAPERSONLINE

author list (cited authors)

• Gautam, A., Sujit, P. B., & Saripalli, S.

citation count

• 13

complete list of authors

• Gautam, Alvika||Sujit, PB||Saripalli, Srikanth

publication date

• July 2017

publisher

• Elsevier  Publisher

published in

• IFAC-PapersOnLine  Journal

Digital Object Identifier (DOI)

• 10.1016/j.ifacol.2017.08.1982

start page

• 10501

end page

• 10506

volume

• 50

issue

• 1

URL

• http://dx.doi.org/10.1016/j.ifacol.2017.08.1982