Wang, B.; Ma, R.; Zhu, H.; Sha, Y.; Yang, T. An Autonomous Tracking and Landing Method for Unmanned Aerial Vehicles Based on Visual Navigation. Drones2023, 7, 703.
Wang, B.; Ma, R.; Zhu, H.; Sha, Y.; Yang, T. An Autonomous Tracking and Landing Method for Unmanned Aerial Vehicles Based on Visual Navigation. Drones 2023, 7, 703.
Wang, B.; Ma, R.; Zhu, H.; Sha, Y.; Yang, T. An Autonomous Tracking and Landing Method for Unmanned Aerial Vehicles Based on Visual Navigation. Drones2023, 7, 703.
Wang, B.; Ma, R.; Zhu, H.; Sha, Y.; Yang, T. An Autonomous Tracking and Landing Method for Unmanned Aerial Vehicles Based on Visual Navigation. Drones 2023, 7, 703.
Abstract
: In this paper, we examine potential methods for autonomously tracking and landing multi-rotor unmanned aerial vehicles (UAVs), a complex yet essential problem. Autonomous tracking and landing control technology utilizes visual navigation, relying solely on vision and landmarks to track targets and achieve autonomous landing. This technology improves the UAV's environment perception and autonomous flight capabilities in GPS-free scenarios. In particular, we are researching tracking and landing as a cohesive unit, devising a switching plan for various UAV tracking and landing modes, and creating a flight controller that has an inner and outer loop structure based on relative position estimation. The inner and outer nested markers aid in the independent monitoring and touchdown of UAV. Optimal parameters are determined via optimized experiments on the measurements of the inner and outer markers. An indoor experimental platform for tracking and landing UAV was established. Tracking performance was verified by tracking three trajectories of unmanned ground vehicle (UGV) at varying speeds, and landing accuracy was confirmed through static and dynamic landing experiments. The experimental results show that the proposed scheme has good dynamic tracking and landing performance.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
