Quadrotor Autonomous Landing on Moving Platform

Wang，Pengyu1,2; Wang，Chaoqun3; Wang，Jiankun1,2,4; Meng，Max Q.H.1,2,4,5,6

10.1016/j.procs.2022.10.097

2022

1877-0509

Procedia Computer Science

209

50-57

This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle avoidance. Specifically, first, we design a landing recognition and positioning system based on the AruCo marker to help the quadrotor quickly calculate the relative pose; second, we leverage a gradient-based local motion planner to generate collision-free reference trajectories rapidly for the quadrotor; third, we build an autonomous state machine that enables the quadrotor to complete its take-off, tracking and landing tasks in full autonomy; finally, we conduct experiments in simulated, real-world indoor and outdoor environments to verify the system's effectiveness and demonstrate its potential.

Autonomous landing Motion planning Quadrotor

Corresponding

English

Guangdong Provincial Key Laboratory of Robotics and Intelligent Systems[ZDSYS20200810171800001];

2-s2.0-85144011141

Scopus

1.Shenzhen Key Laboratory of Robotics Perception and Intelligence,Shenzhen,China
2.Department of Electronic and Electrical Engineering,Southern University of Science and Technology,Shenzhen,China
3.School of Control Science and Engineering,Shandong University,Jinan,China
4.Jiaxing Research Institute,Southern University of Science and Technology,Jiaxing,China
5.Department of Electronic Engineering,The Chinese University of Hong Kong,Hong Kong
6.Shenzhen Research Institute,The Chinese University of Hong Kong,Hong Kong

Wang，Pengyu,Wang，Chaoqun,Wang，Jiankun,et al. Quadrotor Autonomous Landing on Moving Platform[C],2022:50-57.