In this work we study the problem of landing a quadrotor on an inclined moving platform. The aerial robot employs an forward looking on-board camera to detect and observe the landing platform, which is carried by a mobile robot moving independently on an inclined surface. The platform may also be tilted with respect to the mobile robot. The overall goal is to design the aerial robot's control inputs such that it initially approaches the platform, while maintaining it within the camera's field of view and finally lands on it, in a way that minimizes the errors in position, attitude and velocity, while avoiding collision. Owing to the inclined ground and landing surface, the desired final state of the aerial robot is not an equilibrium state, which complicates significantly the control design. In that respect, a discrete-time non-linear model predictive controller was developed that optimizes both the trajectories and the time horizon, towards achieving the aforementioned objectives while respecting the input constraints as well. Finally, an extensive experimental study, with a Pioneer mobile robot and a Parrot ARDrone quadrotor, clarifies and verifies the theoretical findings.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Quadrotor landing on an inclined platform of a moving ground vehicle




    Erscheinungsdatum :

    2015-05-01


    Format / Umfang :

    795914 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Autonomous Landing of a Quadrotor on a Moving Platform

    Ghommam, Jawhar / Saad, Maarouf | IEEE | 2017


    Fast Trajectory Optimization for Quadrotor Landing on a Moving Platform

    Zhang, Guoxu / Kuang, Hailiang / Liu, Xinfu | IEEE | 2020


    Autonomous landing of a quadrotor on a moving platform using motion capture system

    Qassab, Ayman / Khan, Muhammad Umer / Irfanoglu, Bulent | Springer Verlag | 2024

    Freier Zugriff

    Autonomous landing of quadrotor based on ground effect modelling

    Danjun, Li / Yan, Zhou / Zongying, Shi et al. | IEEE | 2015


    Guiding Quadrotor Landing with Pointing Gestures

    Gromov, Boris / Gambardella, Luca / Giusti, Alessandro | Springer Verlag | 2020