This paper introduces a new approach to achieving autonomous soft-landing of an unmanned aerial vehicle (UAV) on a moving platform. The proposed method incorporates terminal constraints on position, velocity, and acceleration by utilizing a minimum jerk-based guidance strategy. An optimal landing time is computed using an acceleration-minimizing cost function. Software-in-the-loop simulations are conducted using the PX4-ROS2-Gazebo environment to demonstrate successful landing on a moving platform. The results indicate that the proposed strategy generates smooth trajectories, enabling the UAV to autonomously achieve soft-landing on the moving platform, even when perturbations in the platform's motion are introduced.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Minimum Jerk Guidance for Autonomous Soft-Landing of an Unmanned Aerial Vehicle on a Moving Platform


    Contributors:


    Publication date :

    2024-12-12


    Size :

    1420916 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Unmanned aerial vehicle landing platform and unmanned aerial vehicle landing system

    ZHANG DULI / GONG YUSHUAI | European Patent Office | 2023

    Free access

    Coarse-to-fine visual autonomous unmanned aerial vehicle landing on a moving platform

    Qiangqiang Cui / Min Liu / Xiaoyin Huang et al. | DOAJ | 2023

    Free access

    UNMANNED AERIAL VEHICLE LANDING PLATFORM AND UNMANNED AERIAL VEHICLE LANDING SYSTEM

    ZHANG DULI / GONG YUSHUAI | European Patent Office | 2023

    Free access

    Unmanned aerial vehicle landing platform, unmanned aerial vehicle landing control method and unmanned aerial vehicle system

    CUI PENG / GONG YUSHUAI / XU LIJUN et al. | European Patent Office | 2023

    Free access

    Unmanned aerial vehicle landing platform

    CHEN YANZHOU / SHEN XIAOJIE / CHENG TIANYU et al. | European Patent Office | 2024

    Free access