Rodríguez-Ramos, Alejandro (PhD student at universidad politecnica de Madrid), Sampedro, Carlos (University), Bavle, Hriday (PhD student at universidad politecnica de Madrid), Milosevic, Zorana (Universidad Politécnica de Madrid), Garcia-Vaquero Velasco, Alejandro (Universidad Politécnica de Madrid), Campoy, Pascual (Universidad Politecnica Madrid)

Towards Fully Autonomous Landing on Moving Platforms for Rotary Unmanned Aerial Vehicles

Scheduled for presentation during the "UAS Applications - I" (WeA4), Wednesday, June 14, 2017, 11:00−11:20, Lummus Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

Fully autonomous landing on moving platforms poses a problem of importance for Unmanned Aerial Vehicles (UAVs). Current approaches are usually based on tracking and following the moving platform by means of several techniques, which frequently lack performance in real applications. The aim of this paper is to prove a simple landing strategy is able to provide practical results. The presented approach is based on three stages: estimation, prediction and fast landing. As a preliminary phase, the problem is solved for a particular case of the IMAV 2016 competition. Subsequently, it is extended to a more generic and versatile approach. A thorough evaluation has been conducted with simulated and real flight experiments. Simulations have been performed utilizing Gazebo 6 and PX4 Software-In-The-Loop (SITL) and real flight experiments have been conducted with a custom quadrotor and a moving platform in an indoor environment.