Robust Autonomous Landing of a Quadrotor on a Moving Target
Alvika Gautam, IIIT-Delhi; Srikanth Saripalli, Texas A&M University; P.B. Sujit, IIIT-Delhi; Ashwini Ratnoo, IISC Bangalore
Robust Autonomous Landing of a Quadrotor on a Moving Target
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- SKU # : 74-2018-0146
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Robust Autonomous Landing of a Quadrotor on a Moving Target
Authors / Details: Alvika Gautam, IIIT-Delhi; Srikanth Saripalli, Texas A&M University; P.B. Sujit, IIIT-Delhi; Ashwini Ratnoo, IISC BangaloreAbstract
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.
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Robust Autonomous Landing of a Quadrotor on a Moving Target
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