Adaptive pure pursuit based autonomous landing of quadrotors
Copyright © 2017 by the American Helicopter Society International, Inc. Landing of quadrotors is a complex and challenging maneuver. Developing autonomous landing technologies has been an active area of research over the past decade. This paper presents a novel guidance strategy for vision based autonomous landing process for both stationary and moving landing targets. We develop a modified pursuit guidance strategy, wherein we integrate a novel velocity controller with the pure pursuit guidance law to achieve faster and accurate landing. The proposed controller is validated for a stationary and moving landing pad through simulations. Further, we also evaluate the said controller in real time conditions for a stationary landing pad through outdoor hardware experiments. Both simulation and experiment results show that the proposed guidance strategy performs better than traditional vertical landing approaches.
author list (cited authors)
Gautam, A., Sujit, P. B., & Saripalli, S.