Research on Air-Ground Cooperative Autonomous Dynamic Landing Algorithm Based on Multi-Apriltag Code and Visual Constraints
Jiandong Peng, Qi Song, Bodan Yao, Wei Hua Hu, Shude Ji · 2025
For the problem of autonomous dynamic landing under air-ground coordination, a autonomous landing algorithm based on multi-AprilTag codes and visual constraints is proposed. Firstly, in order to meet the requirement of precisely positioning unmanned ground vehicles (UGV) by unmanned aerial vehicle(UAV) at different altitudes, a combined landing code consisting of three sizes of AprilTag codes is designed and an adaptive localization algorithm based on multiple AprilTag codes is proposed. Secondly, during collaborative landing, aiming at the problem of interruption of visual guidance caused by the limited field of view of the camera, a landing velocity planning algorithm based on FOV-dual horizontal distance con-straints(FOV-DHC) is designed; Aiming at the UGV being in motion, the collaborative feed-forward(CFF) horizontal velocity compensation algorithm is designed to ensure the synchronization of the horizontal velocities of the UAV and the UGV, which improves the safety of landing in the horizontal direction; In addition, the average weighted fusion(AWF) yaw angle planning algorithm is designed to make the yaw angles of the UAV and the UAV consistent. Finally, The effectiveness of the proposed algorithm in this paper is successfully verified in gazebo simulation environment. Compared with other algorithms, this proposed algorithm achieves a landing accuracy of less than 10 cm, improved landing stability and rapidity.