A17 Pinpoint Landing of Quad-rotor MAV Using IR Rangefinder and Ultrasonic Rangefinder
Daisuke Iwakura, Wei Wang, Kenzo NONAMI, Mark Haley · The Proceedings of the Symposium on the Motion and Vibration Control · 2009
The accuracy of small and low cost GPS is insufficient for precise landing of MAV. This study aims to land on an MAV size landing target by using outer sensors. This paper describes about proposed mobile outer sensors which consist of IR rangeflnders, servo motors and ultrasonic sensor for measuring outer environment and an algorithm for position measurement. Additionally, by using proposed sensor system, an experiment of autonomous hovering over the 52cm × 52cm table and autonomous landing was carried out in indoor environment. As a result of experiment, MAV was succeeded to hover keeping 17.9cm horizontal accuracy, and succeeded to land on the table from 50cm height.