An Active Landing Recovery Method for Quadrotor UAV: Localization, Tracking and Buffering Landing

Yongkang Xu; Zhihua Chen; Shoukun Wang; Junzheng Wang

doi:10.1016/j.ifacol.2023.10.1483

An Active Landing Recovery Method for Quadrotor UAV: Localization, Tracking and Buffering Landing

Yongkang Xu^*, Zhihua Chen^*, Shoukun Wang^*, Junzheng Wang^*

^*Corresponding author for this work

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Citations (Scopus)

Abstract

This paper proposes a principle of fully autonomous ground mobile landing recovery of Unmanned Aerial Vehicles (UAV) for the problems of relatively fixed landing point, passive recovery, poor flexibility, and environmental adaptability, which mainly includes localization, landing point tracking, and buffering landing for quadrotor UAV. Firstly, aiming at the problem that it is difficult to accurately obtain the position of a UAV in dynamic mobile landing recovery, a target location method based on Asynchronous Multisensor Information Fusion(AMIF) and servo turntable focus tracking is proposed. Secondly, to achieve fast and high-precision tracking of UAVs, a tracking control strategy of an independently driven landing recovery system and a Stewart six-degree of freedom platform is proposed. Then, to solve the problems of large impact force and center of gravity instability in the landing process of UAV, a stationarity control algorithm based on model prediction and a compliance control algorithm based on adaptive variable impedance are designed to achieve active compliance control while adjusting the position and attitude of the receiving surface in real-time. Finally, a quadrotor unmanned landing and recovery experimental platform is built to verify the feasibility of the ground mobile landing and recovery strategy proposed in this paper and the effectiveness of the control algorithm.

Original language	English
Title of host publication	IFAC-PapersOnLine
Editors	Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
Publisher	Elsevier B.V.
Pages	3366-3372
Number of pages	7
Edition	2
ISBN (Electronic)	9781713872344
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.1483
Publication status	Published - 1 Jul 2023
Event	22nd IFAC World Congress - Yokohama, Japan Duration: 9 Jul 2023 → 14 Jul 2023

Publication series

Name	IFAC-PapersOnLine
Number	2
Volume	56
ISSN (Electronic)	2405-8963

Conference

Conference	22nd IFAC World Congress
Country/Territory	Japan
City	Yokohama
Period	9/07/23 → 14/07/23

Keywords

Buffering landing
Falling point tracking
Mobile Autonomous recovery
Quadrotor UAV
Target localization

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10.1016/j.ifacol.2023.10.1483

Cite this

@inproceedings{a4124fd96540467e91081a954a3ee4f0,

title = "An Active Landing Recovery Method for Quadrotor UAV: Localization, Tracking and Buffering Landing",

abstract = "This paper proposes a principle of fully autonomous ground mobile landing recovery of Unmanned Aerial Vehicles (UAV) for the problems of relatively fixed landing point, passive recovery, poor flexibility, and environmental adaptability, which mainly includes localization, landing point tracking, and buffering landing for quadrotor UAV. Firstly, aiming at the problem that it is difficult to accurately obtain the position of a UAV in dynamic mobile landing recovery, a target location method based on Asynchronous Multisensor Information Fusion(AMIF) and servo turntable focus tracking is proposed. Secondly, to achieve fast and high-precision tracking of UAVs, a tracking control strategy of an independently driven landing recovery system and a Stewart six-degree of freedom platform is proposed. Then, to solve the problems of large impact force and center of gravity instability in the landing process of UAV, a stationarity control algorithm based on model prediction and a compliance control algorithm based on adaptive variable impedance are designed to achieve active compliance control while adjusting the position and attitude of the receiving surface in real-time. Finally, a quadrotor unmanned landing and recovery experimental platform is built to verify the feasibility of the ground mobile landing and recovery strategy proposed in this paper and the effectiveness of the control algorithm.",

keywords = "Buffering landing, Falling point tracking, Mobile Autonomous recovery, Quadrotor UAV, Target localization",

author = "Yongkang Xu and Zhihua Chen and Shoukun Wang and Junzheng Wang",

note = "Publisher Copyright: Copyright {\textcopyright} 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/); 22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023",

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doi = "10.1016/j.ifacol.2023.10.1483",

language = "English",

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publisher = "Elsevier B.V.",

number = "2",

pages = "3366--3372",

editor = "Hideaki Ishii and Yoshio Ebihara and Jun-ichi Imura and Masaki Yamakita",

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Xu, Y, Chen, Z, Wang, S & Wang, J 2023, An Active Landing Recovery Method for Quadrotor UAV: Localization, Tracking and Buffering Landing. in H Ishii, Y Ebihara, J Imura & M Yamakita (eds), IFAC-PapersOnLine. 2 edn, IFAC-PapersOnLine, no. 2, vol. 56, Elsevier B.V., pp. 3366-3372, 22nd IFAC World Congress, Yokohama, Japan, 9/07/23. https://doi.org/10.1016/j.ifacol.2023.10.1483

An Active Landing Recovery Method for Quadrotor UAV: Localization, Tracking and Buffering Landing. / Xu, Yongkang; Chen, Zhihua; Wang, Shoukun et al.
IFAC-PapersOnLine. ed. / Hideaki Ishii; Yoshio Ebihara; Jun-ichi Imura; Masaki Yamakita. 2. ed. Elsevier B.V., 2023. p. 3366-3372 (IFAC-PapersOnLine; Vol. 56, No. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An Active Landing Recovery Method for Quadrotor UAV

T2 - 22nd IFAC World Congress

AU - Xu, Yongkang

AU - Chen, Zhihua

AU - Wang, Shoukun

AU - Wang, Junzheng

PY - 2023/7/1

Y1 - 2023/7/1

N2 - This paper proposes a principle of fully autonomous ground mobile landing recovery of Unmanned Aerial Vehicles (UAV) for the problems of relatively fixed landing point, passive recovery, poor flexibility, and environmental adaptability, which mainly includes localization, landing point tracking, and buffering landing for quadrotor UAV. Firstly, aiming at the problem that it is difficult to accurately obtain the position of a UAV in dynamic mobile landing recovery, a target location method based on Asynchronous Multisensor Information Fusion(AMIF) and servo turntable focus tracking is proposed. Secondly, to achieve fast and high-precision tracking of UAVs, a tracking control strategy of an independently driven landing recovery system and a Stewart six-degree of freedom platform is proposed. Then, to solve the problems of large impact force and center of gravity instability in the landing process of UAV, a stationarity control algorithm based on model prediction and a compliance control algorithm based on adaptive variable impedance are designed to achieve active compliance control while adjusting the position and attitude of the receiving surface in real-time. Finally, a quadrotor unmanned landing and recovery experimental platform is built to verify the feasibility of the ground mobile landing and recovery strategy proposed in this paper and the effectiveness of the control algorithm.

AB - This paper proposes a principle of fully autonomous ground mobile landing recovery of Unmanned Aerial Vehicles (UAV) for the problems of relatively fixed landing point, passive recovery, poor flexibility, and environmental adaptability, which mainly includes localization, landing point tracking, and buffering landing for quadrotor UAV. Firstly, aiming at the problem that it is difficult to accurately obtain the position of a UAV in dynamic mobile landing recovery, a target location method based on Asynchronous Multisensor Information Fusion(AMIF) and servo turntable focus tracking is proposed. Secondly, to achieve fast and high-precision tracking of UAVs, a tracking control strategy of an independently driven landing recovery system and a Stewart six-degree of freedom platform is proposed. Then, to solve the problems of large impact force and center of gravity instability in the landing process of UAV, a stationarity control algorithm based on model prediction and a compliance control algorithm based on adaptive variable impedance are designed to achieve active compliance control while adjusting the position and attitude of the receiving surface in real-time. Finally, a quadrotor unmanned landing and recovery experimental platform is built to verify the feasibility of the ground mobile landing and recovery strategy proposed in this paper and the effectiveness of the control algorithm.

KW - Buffering landing

KW - Falling point tracking

KW - Mobile Autonomous recovery

KW - Quadrotor UAV

KW - Target localization

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DO - 10.1016/j.ifacol.2023.10.1483

M3 - Conference contribution

AN - SCOPUS:85184959994

T3 - IFAC-PapersOnLine

SP - 3366

EP - 3372

BT - IFAC-PapersOnLine

A2 - Ishii, Hideaki

A2 - Ebihara, Yoshio

A2 - Imura, Jun-ichi

A2 - Yamakita, Masaki

PB - Elsevier B.V.

Y2 - 9 July 2023 through 14 July 2023

ER -

An Active Landing Recovery Method for Quadrotor UAV: Localization, Tracking and Buffering Landing

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Keywords

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