Autonomous Landing of Miniature Aerial Vehicles

Barber, D. Blake; Griffiths, Stephen R.; McLain, Timothy W.; Beard, Randal W.

doi:10.2514/1.26502

Cited by 55 publications

(35 citation statements)

References 7 publications

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“…In the literature some solutions based on ultrasonic, optical or laser sensors have already been proposed for this measurement problem, see e.g. [6,7]. It becomes obvious from the structure of the altitude control loop shown in Fig.…”

Section: Altitude Controlmentioning

confidence: 99%

“…Tracking and landing control has also been investigated in the literatur, see e.g. [6,7], while this paper proposes a new nonlinear approach which again has the advantage of an easy implementation and proven stability. These control strategies are eplained in some details here, first simulation and experimental results underline the obtained performance.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear Landing Control for Quadrotor UAVs

Voos

2009

Autonome Mobile Systeme 2009

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Abstract. Quadrotor UAVs are one of the most preferred type of small unmanned aerial vehicles because of the very simple mechanical construction and propulsion principle. However, the nonlinear dynamic behavior requires a more advanced stabilizing control and guidance of these vehicles. In addition, the small payload reduces the amount of batteries that can be carried and thus also limits the operating range of the UAV. One possible solution for a range extension is the application of a mobile base station for recharging purpose even during operation. However, landing on a moving base station requires autonomous tracking and landing control of the UAV. In this paper, a nonlinear autopilot for quadrotor UAVs is extended with a tracking and landing controller to fulfill the required task.

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Section: Altitude Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Nonlinear Landing Control for Quadrotor UAVs

Voos

2009

Autonome Mobile Systeme 2009

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“…In the literature some solutions based on ultrasonic, optical or laser sensors have already been proposed for this measurement problem, see e.g. [7] and [8]. It becomes obvious from the structure of the altitude control loop shown in Fig.…”

Section: A Altitude Controlmentioning

confidence: 99%

“…There are some possible solutions for this problem such as a vision based or ultrasonic based sensor system, see e.g. [7] and [8]. The velocity components of the platform could be measured with a suitable inertial measurement unit onboard.…”

Section: B Nonlinear 2d-tracking Controllermentioning

confidence: 99%

Nonlinear tracking and landing controller for quadrotor aerial robots

Voos

Bou-Ammar

2010

2010 IEEE International Conference on Control Applications

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Abstract-Quadrotor UAVs are one of the most preferred type of small unmanned aerial vehicles because of the very simple mechanical construction and propulsion principle. However, the nonlinear dynamic behavior requires a more advanced stabilizing control and guidance of these vehicles. In addition, the small payload reduces the amount of batteries that can be carried and thus also limits the operating range of the UAV. One possible solution for a range extension is the application of a base station for recharging purpose even during operation. In order to increase the efficiency of the overall system further, a mobile base station will be applied here. However, landing on a moving base station requires autonomous tracking and landing control of the UAV. In this paper, a novel nonlinear autopilot for quadrotor UAVs is extended with a tracking and landing controller to fulfil the required task. First simulation and experimental results underline the performance of this new control approach for the current realization.

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“…Saripalli et al 3,4 have landed on a moving target that was known to be a good landing site. Barber et al 5 used optical flow based control to control a fixed wing vehicle to land.…”

Section: Related Workmentioning

confidence: 99%

Online Assessment of Landing Sites

Scherer

Chamberlain

Singh

2010

AIAA Infotech@Aerospace 2010

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Assessing a landing zone (LZ) reliably is essential for safe operation of vertical takeoff and landing (VTOL) aerial vehicles that land at unimproved locations.Currently an operator has to rely on visual assessment to make an approach decision; however. visual information from afar is insufficient to judge slope and detect small obstacles. Prior work has modeled LZ quality based on plane fitting, which only partly represents the interaction between vehicle and ground.Our approach consists of a coarse evaluation based on slope and roughness criteria, a fine evaluation for skid contact, and body clearance of a location. We investigated whether the evaluation is correct for using terrain maps collected from a helicopter. This paper defines the problem of evaluation, describes our incremental real-time algorithm, and discusses the effectiveness of our approach.In results from urban and natural environments, we were able to successfully classify LZs from point cloud maps collected on a helicopter. The presented method enables detailed assessment of LZs without an landing approach, thereby improving safety.Still, the method assumes low-noise point cloud data. We intend to increase robustness to outliers while still detecting small obstacles in future work.

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Autonomous Landing of Miniature Aerial Vehicles

Cited by 55 publications

References 7 publications

Nonlinear Landing Control for Quadrotor UAVs

Nonlinear Landing Control for Quadrotor UAVs

Nonlinear tracking and landing controller for quadrotor aerial robots

Online Assessment of Landing Sites

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