Vision-based autonomous tracking and landing of a fully-actuated rotorcraft. (August 2019)

• Record Type: Journal Article
• Authors: Bhargavapuri, Mahathi; Shastry, Animesh Kumar; Sinha, Harsh; Sahoo, Soumya Ranjan; Kothari, Mangal
• Is Part Of: Control engineering practice. Volume 89(2019)
• Page Start: 113
• Page End: 129
• Publication Date: 2019-08
• Subjects: Autonomous systems -- Unmanned aerial vehicles -- Vision -- Autonomous landing -- Aerospace control; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2019.05.015
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: Autonomous landing is a challenging phase of flight for an aerial vehicle, especially when attempting to land on a moving target. This paper presents vision-based tracking and landing of a fully-actuated tilt-augmented quadrotor on a moving target. A fully-actuated vehicle allows higher freedom in terms of control design and a larger flight envelope since the position and attitude states are decoupled. An adaptive control law is designed to track a moving target with only relative position information from a camera. Low-cost hardware is used, and experiments are carried out to validate the proposed methodology for targets moving at realistic speeds.