Precise Landing of Autonomous Aerial Vehicles Using Vector Fields

This letter proposes a strategy for autonomous precision landing of aerial vehicles in fixed pads or runways. Our approach is based on a velocity vector field, which is a closed-loop strategy that guides the vehicle towards the landing point and simultaneously enforces the shape of its trajectory. R...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2020-07, Vol.5 (3), p.4337-4344
Main Authors: Goncalves, Vinicius Mariano, McLaughlin, Ryan, Pereira, Guilherme A. S.
Format: Article
Language:English
Subjects:
Aerial systems: perception and autonomy
Aircraft
Cameras
field robots
Fields (mathematics)
Landing
Military strategy
motion and path planning
Robots
Runways
Sensors
Shape
Task analysis
Trajectory
Unmanned aerial vehicles
Vehicles
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Summary:This letter proposes a strategy for autonomous precision landing of aerial vehicles in fixed pads or runways. Our approach is based on a velocity vector field, which is a closed-loop strategy that guides the vehicle towards the landing point and simultaneously enforces the shape of its trajectory. Relative position between the vehicle and the landing zone, which can be easily determined using visual sensors installed on-board, is the only information necessary to perform the landing. We present vector fields that can be used to land both fixed- and rotary-wing autonomous aircrafts. We also show experiments and simulations with a quadrotor equipped with a monocular camera to illustrate the characteristics of the proposed approach.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.2994485