Adaptive pure pursuit based autonomous landing of quadrotors

Alvika Gautam, P. B. Sujit, Srikanth Saripalli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Landing of quadrotors is a complex and challenging maneuver. Developing autonomous landing technologies has been an active area of research over the past decade. This paper presents a novel guidance strategy for vision based autonomous landing process for both stationary and moving landing targets. We develop a modified pursuit guidance strategy, wherein we integrate a novel velocity controller with the pure pursuit guidance law to achieve faster and accurate landing. The proposed controller is validated for a stationary and moving landing pad through simulations. Further, we also evaluate the said controller in real time conditions for a stationary landing pad through outdoor hardware experiments. Both simulation and experiment results show that the proposed guidance strategy performs better than traditional vertical landing approaches.

Original languageEnglish (US)
Title of host publication7th AHS Technical Meeting on VTOL Unmanned Aircraft Systems and Autonomy
PublisherAmerican Helicopter Society International
StatePublished - 2017
Event7th AHS Technical Meeting on VTOL Unmanned Aircraft Systems and Autonomy - Mesa, United States
Duration: Jan 24 2017Jan 26 2017

Other

Other7th AHS Technical Meeting on VTOL Unmanned Aircraft Systems and Autonomy
CountryUnited States
CityMesa
Period1/24/171/26/17

ASJC Scopus subject areas

  • Aerospace Engineering

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  • Cite this

    Gautam, A., Sujit, P. B., & Saripalli, S. (2017). Adaptive pure pursuit based autonomous landing of quadrotors. In 7th AHS Technical Meeting on VTOL Unmanned Aircraft Systems and Autonomy American Helicopter Society International.