Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment
Nowadays, with the increasing popularity of quadcopter unmanned aerial vehicles in several real-world applications, achieving a fully autonomous quadcopter flight has become an imperative topic investigated in many studies. One of the most pressing issues in such a topic is the precision landing tas...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9189835/ |
| _version_ | 1818557481600679936 |
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| author | Nguyen Xuan-Mung Sung Kyung Hong Ngoc Phi Nguyen Le Nhu Ngoc Thanh Ha Tien-Loc Le |
| author_facet | Nguyen Xuan-Mung Sung Kyung Hong Ngoc Phi Nguyen Le Nhu Ngoc Thanh Ha Tien-Loc Le |
| author_sort | Nguyen Xuan-Mung |
| collection | DOAJ |
| description | Nowadays, with the increasing popularity of quadcopter unmanned aerial vehicles in several real-world applications, achieving a fully autonomous quadcopter flight has become an imperative topic investigated in many studies. One of the most pressing issues in such a topic is the precision landing task, which always is devastatingly influenced by the ground effect and external disturbances. In this paper, we present an autonomous quadcopter landing algorithm allowing the vehicle to land robustly and precisely onto a heaving platform. Firstly, a robust control algorithm addressing the altitude flight under the ground effect and external disturbances is derived. We strictly prove the closed-loop system stability by using the Lyapunov theory. Secondly, a landing target state estimator is proposed to provide state estimations of the moving landing target. In addition, we propose a landing procedure to ensure the landing task is achieved safely and reliably. Finally, we use a DJI-F450 drone equipped with an infrared sensor and a laser ranging sensor as the experimental quadcopter platform and conduct experiments to evaluate the performance of our new algorithm in real flight conditions. The experimental results demonstrate the effectiveness of the proposed method. |
| first_indexed | 2024-12-14T00:00:04Z |
| format | Article |
| id | doaj.art-e6df8c51db824c9b95fd2a6c1132224e |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T00:00:04Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-e6df8c51db824c9b95fd2a6c1132224e2022-12-21T23:26:23ZengIEEEIEEE Access2169-35362020-01-01816719216720210.1109/ACCESS.2020.30228819189835Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and ExperimentNguyen Xuan-Mung0https://orcid.org/0000-0001-5632-9399Sung Kyung Hong1https://orcid.org/0000-0003-1143-2194Ngoc Phi Nguyen2Le Nhu Ngoc Thanh Ha3https://orcid.org/0000-0001-7896-3139Tien-Loc Le4https://orcid.org/0000-0002-9849-9297Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul, South KoreaFaculty of Mechanical and Aerospace Engineering, Sejong University, Seoul, South KoreaFaculty of Mechanical and Aerospace Engineering, Sejong University, Seoul, South KoreaFaculty of Intelligent Mechatronics Engineering, Sejong University, Seoul, South KoreaFaculty of Mechanical and Aerospace Engineering, Sejong University, Seoul, South KoreaNowadays, with the increasing popularity of quadcopter unmanned aerial vehicles in several real-world applications, achieving a fully autonomous quadcopter flight has become an imperative topic investigated in many studies. One of the most pressing issues in such a topic is the precision landing task, which always is devastatingly influenced by the ground effect and external disturbances. In this paper, we present an autonomous quadcopter landing algorithm allowing the vehicle to land robustly and precisely onto a heaving platform. Firstly, a robust control algorithm addressing the altitude flight under the ground effect and external disturbances is derived. We strictly prove the closed-loop system stability by using the Lyapunov theory. Secondly, a landing target state estimator is proposed to provide state estimations of the moving landing target. In addition, we propose a landing procedure to ensure the landing task is achieved safely and reliably. Finally, we use a DJI-F450 drone equipped with an infrared sensor and a laser ranging sensor as the experimental quadcopter platform and conduct experiments to evaluate the performance of our new algorithm in real flight conditions. The experimental results demonstrate the effectiveness of the proposed method.https://ieeexplore.ieee.org/document/9189835/Autonomous landingprecision landingmoving targetquadcopterheaving platformship deck |
| spellingShingle | Nguyen Xuan-Mung Sung Kyung Hong Ngoc Phi Nguyen Le Nhu Ngoc Thanh Ha Tien-Loc Le Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment IEEE Access Autonomous landing precision landing moving target quadcopter heaving platform ship deck |
| title | Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment |
| title_full | Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment |
| title_fullStr | Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment |
| title_full_unstemmed | Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment |
| title_short | Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment |
| title_sort | autonomous quadcopter precision landing onto a heaving platform new method and experiment |
| topic | Autonomous landing precision landing moving target quadcopter heaving platform ship deck |
| url | https://ieeexplore.ieee.org/document/9189835/ |
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