This paper investigates the challenging problem of the autonomous landing of a quadrotor on a moving platform in a non-cooperative environment. The limited sensing ability of quadrotors often hampers their utilization for autonomous landing, especially in GPS-denied areas. The performance of motion capture systems (MCSs) in many application areas is the motivation to utilize them for the autonomous take-off and landing of the quadrotor in this research. An autonomous closed-loop vision-based navigation, tracking, and control system is proposed for quadrotors to perform landing based upon Model Predictive Control (MPC) by utilizing multi-objective functions. The entire process is posed as a constrained tracking problem to minimize energy consumption and ensure smooth maneuvers. The proposed approach is fully autonomous from take-off to landing; whereas, the movements of the landing platform are pre-defined but still unknown to the quadrotor. The landing performance of the quadrotor is tested and evaluated for three different movement patterns: static, square-shaped, and circular-shaped. Through experimental results, the pose error between the quadrotor and the platform is measured and found to be less than 30 cm.

    Introducing a holistic vision system for quadrotor navigation, tracking, and landing on stationary/moving platforms.

    Proposing an energy-efficient, smooth, and stable MPC controller validated by Lyapunov analysis.

    Validating the adept tracking and safe landings of the quadrotor on stationary/moving platforms through three diverse experiments.


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    Title :

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


    Additional title:

    Discov Appl Sci


    Contributors:

    Published in:

    Publication date :

    2024-06-02




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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