A Cooperative Framework for Autonomous Landings of Quadrotors using Vision on a Moving UGV
Rishab Balasubramaniam, P. B. Sujit · AIAA Scitech 2021 Forum · 2021
View Video Presentation: https://doi.org/10.2514/6.2021-1880.vid Unmanned ground vehicles (UGVs) have become popular for deploying and recharging quadrotors in various persistent applications. In order to accurately land the UAV on the UGV, efficient landing controllers must be designed. Further, a single UGV may need to service several quadrotors and hence the UGV and UAVs need to coordinate with each other for landing and take-off. In this paper, we present a State Dependent Riccati Equation (SDRE)-based landing controller with vision in the loop and a cooperative scheduling scheme for sequential landing of the UAV on the UGV with active interaction with the vehicles. Simulations results are presented to show the efficacy of the landing and scheduling for different trajectories.