Robust autonomous landing of a quadrotor on a moving target
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Copyright © 2018 by AHS International, Inc. All rights reserved. Autonomous landing is the most difficult maneuver in a quadrotor mission because of challenges like (i) external disturbances and localization error both of which cause deviation from the desired trajectory and may result in a crash. In this paper, we use onboard vision to detect and estimate the landing target parameters accurately. We present a guidance framework to land on a moving target accurately. We discuss the advantages and present the simulation results for a simple 2D scenario for the proposed framework. We present implementation of the proposed algorithm for a quadrotor vehicle simulated in Microsoft Airsim using unreal engine as base and discuss various cases to evaluate robustness of the landing algorithm in presence of disturbances.
author list (cited authors)
Gautam, A., Saripalli, S., Sujit, P. B., & Ratnoo, A.