This article describes experiments related to the simulation of automatic landing of UAV on a mobile robotic platform using computer vision and a control system based on PID and polynomial regulators within the Gazebo environment. Algorithm has been developed to generate control inputs for maintaining the velocities of the UAV based on the data from the computer vision system and feedback from onboard sensor devices. A series of experiments were conducted at altitudes ranging from 5 to 20 m, which allowed for identifying limitations that affect the successful landing of the UAV. Measurements were taken of the landing time and landing error, calculated as the distance between the platform center and the UAV’s center of mass upon completion of the landing. The average landing time and error ranged from 19.64 s and 0.16 m at an initial altitude of 5 m to 121.01 s and 0.27 m at an initial altitude of 20 m. Analysis of the obtained results revealed that both the average error and landing time increase with the initial altitude, which is associated with the accuracy of marker recognition at altitudes above 15 m. The obtained results can be valuable for further improvement of systems for automatic landing of UAVs on mobile platforms.
Autonomous Landing Algorithm for UAV on a Mobile Robotic Platform with a Fractal Marker
Lect.Notes Computer
International Conference on Interactive Collaborative Robotics ; 2023 ; Baku, Azerbaijan October 25, 2023 - October 29, 2023
2023-09-05
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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