Autonomous Landing Algorithm for UAV on a Mobile Robotic Platform with a Fractal Marker

Artem Ryabinov; Anton Saveliev; Dmitry Anikin

Artem Ryabinov SPC RAS https://orcid.org/0000-0002-3572-4493
Anton Saveliev SPC RAS https://orcid.org/0000-0003-1851-2699
Dmitry Anikin SPC RAS

Keywords: Unmanned Aerial Vehicle, Quadcopter, Marker Detection, Automated Land-ing, Computer Vision, Navigation

Abstract

This article describes experiments related to the simulation of automatic landing of UAV on a mobile robotic platform using computer vision and a control system based on PID and polynomial regulators within the Gazebo environment. Algorithm has been developed to generate control inputs for maintaining the velocities of the UAV based on the data from the computer vision system and feedback from onboard sensor devices. A series of experiments were conducted at altitudes ranging from 5 to 20 meters, which allowed for identifying limitations that affect the successful landing of the UAV. Measurements were taken of the landing time and landing error, calculated as the distance between the platform center and the UAV's center of mass upon completion of the landing. The average landing time and error ranged from 19.64 seconds and 0.16 meters at an initial altitude of 5 meters to 121.01 seconds and 0.27 meters at an initial altitude of 20 meters. Analysis of the obtained results revealed that both the average error and landing time increase with the initial altitude, which is associated with the accuracy of marker recognition at altitudes above 15 meters. The obtained results can be valuable for further improvement of systems for automatic landing of UAVs on mobile platforms.