Given the rapid development of unmanned aerial vehicles and the more radical mission requirements, there is a higher demand for emergency forced landing on complex ground. This paper constructs a scheme that can automatically identify the landing platform that meets the requirements of a forced landing on the complex ground when the aircraft enters the emergency state, analyze the location of obstacles in real-time, and land safely on the platform. Based on the depth map obtained by the RGB-d camera as input, this paper first performs edge segmentation to find multiple closed domains and then finds the nearest platform that meets the landing requirements as the landing point of the UAV in the closed domain. And make adjustments to the landing control, and carry out closed-loop position control for the UAV, to reduce the collision with obstacles caused by the dynamic error in the control, and complete the accurate autonomous landing in the complex ground environment in the emergency state. The system is based on the self-defined UAV platform with a 250 mm wheelbase, and tests many flight control platforms such as Dji and Px4 open source flight control, to apply to all kinds of mainstream rotor UAVs platforms.
Emergency Landing System of Rotor UAV in Complex Ground Environment
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Chapter : 273 ; 2954-2964
2023-03-10
11 pages
Article/Chapter (Book)
Electronic Resource
English
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