ArticleSensors (Basel, Switzerland)2022
Autonomous Quadcopter Landing on a Moving Target.
Article in Sensors (Basel, Switzerland), 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed.
- An Ultralight Launch-and-Recovery System for Tethered Micro Unmanned Aerial Vehicles on Small Unmanned Ground Vehicles.Sensors (Basel, Switzerland) · 2026Article
- Autonomous Landing Strategy for Micro-UAV with Mirrored Field-of-View Expansion.Sensors (Basel, Switzerland) · 2024Article
- Autonomous Landing of Quadrotor Unmanned Aerial Vehicles Based on Multi-Level Marker and Linear Active Disturbance Reject Control.Sensors (Basel, Switzerland) · 2024Article
- Feature Papers in Vehicular Sensing.Sensors (Basel, Switzerland) · 2023Article
- Precision Landing Tests of Tethered Multicopter and VTOL UAV on Moving Landing Pad on a Lake.Sensors (Basel, Switzerland) · 2023Article
- Vision-Based Autonomous Following of a Moving Platform and Landing for an Unmanned Aerial Vehicle.Sensors (Basel, Switzerland) · 2023Article
Corrections and comments
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Authors and funding
4 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Autonomous landing on a moving target is challenging because of external disturbances and localization errors. In this paper, we present a vision-based guidance technique with a log polynomial closing velocity controller to achieve faster and more accurate landing as compared to that of the traditional vertical landing approaches. The vision system uses a combination of color segmentation and AprilTags to detect the landing pad. No prior information about the landing target is needed. The guidance is based on pure pursuit guidance law. The convergence of the closing velocity controller is shown, and we test the efficacy of the proposed approach through simulations and field experiments. The landing target during the field experiments was manually dragged with a maximum speed of 0.6 m/s. In the simulations, the maximum target speed of the ground vehicle was 3 m/s. We conducted a total of 27 field experiment runs for landing on a moving target and achieved a successful landing in 22 cases. The maximum error magnitude for successful landing was recorded to be 35 cm from the landing target center. For the failure cases, the maximum distance of vehicle landing position from target boundary was 60 cm.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.