@article{e9f6d838dd4b43bfa8b50e792f6b42c2,
title = "Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach",
abstract = "This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Unlike most state-of-the-art UAV landing frameworks that rely on UAV onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such a novel configuration can therefore lighten the burden of the UAV, and the computation power of the ground vehicle/marine vessel can be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted, and the results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed.",
keywords = "Autonomous landing, Deep learning, Kalman filter, Object tracking, Optimal trajectory, Sensor fusion, UAV, VTOL",
author = "Chang, {Ching Wei} and Lo, {Li Yu} and Cheung, {Hiu Ching} and Yurong Feng and Yang, {An Shik} and Wen, {Chih Yung} and Weifeng Zhou",
note = "Funding Information: real-worldenvTo furtherironment, imprinovewhich ththe Ue AUVAlandingV safely lguidanceanded. system, attention will focus on the To further improve the UAV landing guidance system, attention will focus on the estimation of the relative movement of the UAV and the landing platform. In marine applications, the landing platform is expected to heave and shake on waves. The system must be able to accurately measure and rapidly estimate the relative movements to achieve asaThefe lafollowingnding in aarmeoavailablere unstablonlinee enviroatnhttps://youtu.be/OfGBQfCveiMment. (accessed on 1 December 2021), Video: Proactive Guidance for Accurate UAV Landing on a Dynamic SupplePlatform:mentary MaAteVriaisulsa:lTh–Ine efortlliaolwAppring aoach.re available online at https://youtu.be/OfGBQfCveiM, Video: Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial ApproaAuthorch. Contributions: Conceptualization, C.-W.C.; methodology, C.-W.C. and L.-Y.L.; software, C.-W.C., L.-Y.L. and Y.F.; validation, C.-W.C., L.-Y.L. and H.C.C.; formal analysis, C.-W.C. and Y.F.; C.-W.C., L.-Y.L. and Y.F.; validation, C.-W.C., L.-Y.L. and H.C.C.; formal analysis, C.-W.C. and Y.F.; data curation, C.-W.C., H.C.C. and Y.F.; writing—original draft preparation, C.-W.C.; writing, review anadndedaigtrineegd, Wto.tZh.e, Apu.-bSl.iYs.headndveCrs.-iYon.Wo.f; tshuepmeravnisuisocnr,ipWt..Z., A.-S.Y. and C.-Y.W. All authors have read and agreed to the published version of the manuscript. Funding: This work was supported by the Innovation and Technology Commission of Hong Kong Fundinugn: Tdherisgwraonrtknwumasb seurpIpToTr/te0d27b/y19thGeP I.nnovation and Technology Commission of Hong Kong under grant number ITT/027/19GP. Data Availability Statement: Not applicable. Data Availability Statement: Not applicable. Conflicts of Interest: The authors declare no conflict of interest. Conflicts of Interest: The authors declare no conflicts of interest. Funding Information: This work was supported by the Innovation and Technology Commission of Hong Kong under grant number ITT/027/19GP. Publisher Copyright: {\textcopyright} 2022 by the authors. Licensee MDPI, Basel, Switzerland.",
year = "2022",
month = jan,
day = "5",
doi = "10.3390/s22010404",
language = "English",
volume = "22",
journal = "Sensors",
issn = "1424-3210",
publisher = "Multidisciplinary Digital Publishing Institute (MDPI)",
number = "1",
}
