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Precise Landing of Autonomous Aerial Vehicles Using Vector Fields | IEEE Journals & Magazine | IEEE Xplore

Precise Landing of Autonomous Aerial Vehicles Using Vector Fields


Abstract:

This letter proposes a strategy for autonomous precision landing of aerial vehicles in fixed pads or runways. Our approach is based on a velocity vector field, which is a...Show More

Abstract:

This letter proposes a strategy for autonomous precision landing of aerial vehicles in fixed pads or runways. Our approach is based on a velocity vector field, which is a closed-loop strategy that guides the vehicle towards the landing point and simultaneously enforces the shape of its trajectory. Relative position between the vehicle and the landing zone, which can be easily determined using visual sensors installed on-board, is the only information necessary to perform the landing. We present vector fields that can be used to land both fixed- and rotary-wing autonomous aircrafts. We also show experiments and simulations with a quadrotor equipped with a monocular camera to illustrate the characteristics of the proposed approach.
Published in: IEEE Robotics and Automation Letters ( Volume: 5, Issue: 3, July 2020)
Page(s): 4337 - 4344
Date of Publication: 13 May 2020

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