Autonomous tracking and landing of an unmanned aerial vehicle on a ground vehicle in rough terrain

Aoki, Nobuaki; Ishigami, Genya

doi:10.1080/01691864.2022.2141078

Cited by 4 publications

(1 citation statement)

References 27 publications

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“…In terms of combining vision and control, PID based on a radial basis function and YOLOv3 were employed for UAV landing [ 23 ]. To land on a moving vehicle, ApriTag-based makers were designed, and an extended Kalman filter and nonlinear model predictive control were used for UAV autonomous tracking and landing [ 24 ]. The PID control was used for UAV landing based on fuzzy logic, in which the parameters of PID were adjusted adaptively [ 25 ].…”

Section: Related Workmentioning

confidence: 99%

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

Lv,

Fan,

Fang

et al. 2024

Sensors

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Landing on unmanned surface vehicles (USV) autonomously is a critical task for unmanned aerial vehicles (UAV) due to complex environments. To solve this problem, an autonomous landing method is proposed based on a multi-level marker and linear active disturbance rejection control (LADRC) in this study. A specially designed landing board is placed on the USV, and ArUco codes with different scales are employed. Then, the landing marker is captured and processed by a camera mounted below the UAV body. Using the efficient perspective-n-point method, the position and attitude of the UAV are estimated and further fused by the Kalman filter, which improves the estimation accuracy and stability. On this basis, LADRC is used for UAV landing control, in which an extended state observer with adjustable bandwidth is employed to evaluate disturbance and proportional-derivative control is adopted to eliminate control error. The results of simulations and experiments demonstrate the feasibility and effectiveness of the proposed method, which provides an effective solution for the autonomous recovery of unmanned systems.

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Section: Related Workmentioning

confidence: 99%