Autonomous landing is a challenging and important task for rotorcraft-based unmanned aerial vehicle (RUAV). This paper presents an autonomous landing algorithm for RUAV. The accurate landing is achieved by generating reference trajectory using near-minimum-time maneuver method and tracked with Lyapunov stabilizing approach. Along with this the testing environment for RUAV is developed to validate our landing algorithm. Complete setup is implemented and run under QNX RTOS, based on PC104 embedded board. The algorithm is tested and evaluated using HILS (Hardware in the loop simulation). Simulation result shows that proposed algorithm effectively handles elevated terrain under high altitude and lands accurately.

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