Unmanned Aerial Vehicles (UAV) in autonomous operations is an emerging technology with growing applications in several areas, such as agriculture, search and rescue (SaR), and even space exploration. The take-off and particular landing are some of the critical parts of operation. This paper proposes a landing site selection and control algorithm for an autonomous multirotor UAV. The goal is to land the UAV in safe locations as close as possible to a Point of Interest (PoI), mainly in unknown and unsafe terrains. The Landing Site Selection (LSS) algorithm uses terrain features from a 3D pointcloud, Support Vector Machines (SVM) to classify landing safety, and a cost function to compute the best landing site. The algorithm can be used both offline with a 3D map and online with data from a depth sensor. The states of the landing procedure are handled by a high-level state machine and velocity controllers control the UAV. LSS was tested using 3D maps of real scenarios and data from depth camera mounted on a real UAV, and the full autonomous landing system was tested in a simulated environment.


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    Title :

    An Integrated Method for Landing Site Selection and Autonomous Reactive Landing for Multirotors


    Additional title:

    Lect. Notes in Networks, Syst.


    Contributors:

    Conference:

    Iberian Robotics conference ; 2023 ; Coimbra, Portugal November 22, 2023 - November 24, 2023



    Publication date :

    2024-04-27


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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