Autonomous landing of a quadrotor on a moving platform using vision-based FOFPID control

Abstract

This research deals with the autonomous landing maneuver of a quadrotor unmanned aerial vehicle (UAV) on an unmanned ground vehicle (UGV). It is assumed that the UGV moves independently, and there is no communication and collaboration between the two vehicles. This paper aims at the design of a closed-loop vision-based control system for quadrotor UAV to perform autonomous landing maneuvers in the possible minimum time despite the wind-induced disturbance force. In this way, a fractional-order fuzzy proportional-integral-derivative controller is introduced for the nonlinear under-actuated system of a quadrotor. Also, a feedback linearization term is included in the control law to compensate model nonlinearities. A supervisory control algorithm is proposed as an autonomous landing path generator to perform fast, smooth, and accurate landings. On the other hand, a compound AprilTag fiducial marker is employed as the target of a vision positioning system, enabling high precision relative positioning in the range between 10 and 350 cm height. A software-in-the-loop simulation testbed is realized on the windows platform. Numerical simulations with the proposed control system are carried out, while the quadrotor system is exposed to different disturbance conditions and actuator dynamics with saturated thrust output are considered.

Autonomous Landing of Quadrotor Unmanned Aerial Vehicles Based on Multi-Level Marker and Linear Active Disturbance Reject Control

“…However, the communication of both was not considered. Instead, a compound AprilTag fiducial marker was employed and a fractional-order fuzzy PID controller was used [ 28 ].…”

Multi-Tag Fusion Localization Method Based on Geometric Constraints

“…The most common positioning technology is Global Navigation Satellite System (GNSS); however, not all scenarios offer ample and reliable signals, such as urban canyons, parking lots, tunnels, and indoor areas [4], [5]. Visual tag positioning technology has become increasingly prevalent across a spectrum of applications, including robotics [6,7] and Unmanned Aerial Vehicles (UAVs) [8,9], offering innovative solutions for the precise positioning of intelligent transport systems. By employing tags with predefined coordinate information, this technology achieves centimeter-level accuracy in positioning, which is crucial for various mobile platforms, including but not limited to automotive applications.…”

Interception of an aerial manoeuvring target using monocular vision

“…In the literature, interception of a target using visual information is achieved by generating acceleration command using position-based visual servoing (PBVS) techniques [1,2,3,4,5,6], image-based visual servoing (IBVS) techniques [7,8,9] or a control strategy based on target dynamics on the image plane [10,11,12,13]. In the case of PBVS techniques, the control command is generated based on the reconstruction of the target pose in 3D, whereas in IBVS techniques, the control command is generated based on the desired location of the target pixel involving the interaction matrix.…”