Autonomous landing solution of low-cost quadrotor on a moving platform

Yuhua Qi; Jiaqi Jiang; Jin Wu; Jianan Wang; Chunyan Wang; Jiayuan Shan

doi:10.1016/j.robot.2019.05.004

Autonomous landing solution of low-cost quadrotor on a moving platform

Yuhua Qi, Jiaqi Jiang, Jin Wu, Jianan Wang^*, Chunyan Wang, Jiayuan Shan

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

30 Citations (Scopus)

Abstract

In this paper, a complete solution for autonomous landing of a low-cost quadrotor on a moving platform is presented. First, the dynamic model of the quadrotor is described and simplified for landing task. Second, a novel landing pad associated with detection algorithm is designed for robust detection by a low-cost monocular camera. In order to deal with mirror effect and occasional misidentification, a 3D point cluster algorithm for relative position estimation is proposed. Third, using the backstepping approach, an adaptive position controller is designed to calculate the desired attitude for attitude loop. The overall stability of the position loop is proven by a Lyapunov method. Meanwhile, some landing strategies are presented to achieve a safe and stable landing task. Finally, the low-cost system architecture of the quadrotor and the experiment results are both demonstrated to showcase the effectiveness of the proposed method.

Original language	English
Pages (from-to)	64-76
Number of pages	13
Journal	Robotics and Autonomous Systems
Volume	119
DOIs	https://doi.org/10.1016/j.robot.2019.05.004
Publication status	Published - Sept 2019

Keywords

Autonomous landing
Backstepping method
Low-cost quadrotor

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10.1016/j.robot.2019.05.004

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title = "Autonomous landing solution of low-cost quadrotor on a moving platform",

abstract = "In this paper, a complete solution for autonomous landing of a low-cost quadrotor on a moving platform is presented. First, the dynamic model of the quadrotor is described and simplified for landing task. Second, a novel landing pad associated with detection algorithm is designed for robust detection by a low-cost monocular camera. In order to deal with mirror effect and occasional misidentification, a 3D point cluster algorithm for relative position estimation is proposed. Third, using the backstepping approach, an adaptive position controller is designed to calculate the desired attitude for attitude loop. The overall stability of the position loop is proven by a Lyapunov method. Meanwhile, some landing strategies are presented to achieve a safe and stable landing task. Finally, the low-cost system architecture of the quadrotor and the experiment results are both demonstrated to showcase the effectiveness of the proposed method.",

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author = "Yuhua Qi and Jiaqi Jiang and Jin Wu and Jianan Wang and Chunyan Wang and Jiayuan Shan",

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AU - Qi, Yuhua

AU - Jiang, Jiaqi

AU - Wu, Jin

AU - Wang, Jianan

AU - Wang, Chunyan

AU - Shan, Jiayuan

PY - 2019/9

Y1 - 2019/9

N2 - In this paper, a complete solution for autonomous landing of a low-cost quadrotor on a moving platform is presented. First, the dynamic model of the quadrotor is described and simplified for landing task. Second, a novel landing pad associated with detection algorithm is designed for robust detection by a low-cost monocular camera. In order to deal with mirror effect and occasional misidentification, a 3D point cluster algorithm for relative position estimation is proposed. Third, using the backstepping approach, an adaptive position controller is designed to calculate the desired attitude for attitude loop. The overall stability of the position loop is proven by a Lyapunov method. Meanwhile, some landing strategies are presented to achieve a safe and stable landing task. Finally, the low-cost system architecture of the quadrotor and the experiment results are both demonstrated to showcase the effectiveness of the proposed method.

AB - In this paper, a complete solution for autonomous landing of a low-cost quadrotor on a moving platform is presented. First, the dynamic model of the quadrotor is described and simplified for landing task. Second, a novel landing pad associated with detection algorithm is designed for robust detection by a low-cost monocular camera. In order to deal with mirror effect and occasional misidentification, a 3D point cluster algorithm for relative position estimation is proposed. Third, using the backstepping approach, an adaptive position controller is designed to calculate the desired attitude for attitude loop. The overall stability of the position loop is proven by a Lyapunov method. Meanwhile, some landing strategies are presented to achieve a safe and stable landing task. Finally, the low-cost system architecture of the quadrotor and the experiment results are both demonstrated to showcase the effectiveness of the proposed method.

KW - Autonomous landing

KW - Backstepping method

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Autonomous landing solution of low-cost quadrotor on a moving platform

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Keywords

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