Vector Field-Based Robust Quadrotor Landing on a Moving Ground Platform
The autonomous landing of unmanned aerial vehicles (UAVs) on moving platforms has potential applications across various domains. However, robust landing remains challenging because the detection reliability of UAVs decreases when the UAV is close to a moving platform. To address this issue, this pap...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Aerospace |
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| Online Access: | https://www.mdpi.com/2226-4310/12/7/590 |
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| author | Woohyun Byun Soobin Huh Hyeokjae Jang Suhyeong Yu Sungwon Lim Seokwon Lee Woochul Nam |
| author_facet | Woohyun Byun Soobin Huh Hyeokjae Jang Suhyeong Yu Sungwon Lim Seokwon Lee Woochul Nam |
| author_sort | Woohyun Byun |
| collection | DOAJ |
| description | The autonomous landing of unmanned aerial vehicles (UAVs) on moving platforms has potential applications across various domains. However, robust landing remains challenging because the detection reliability of UAVs decreases when the UAV is close to a moving platform. To address this issue, this paper proposes a novel landing strategy that ensures a high detection rate. First, a robust detectable region was established by considering the sensing range and maneuverability limitations of the UAV. Second, a vector field was designed to guide the UAV to the moving platform while remaining in a robust detectable region. Next, safe and accurate landings were achieved by considering the current velocity and vector field. The landing strategy was validated through outdoor flight experiments. A quadrotor equipped with a gimbal-mounted camera was used, and a fractal marker was attached to the moving platform for detection and tracking. When the moving platform moved at a speed of 2–4.3 m/s, the UAV successfully landed on the platform with a distance error of 0.4 m. Because of the robust detectable region and vector field, the detection was conducted with a high success rate (94.9%). |
| format | Article |
| id | doaj-art-705aad059e5e41a8ac45772e2c1f01f9 |
| institution | Kabale University |
| issn | 2226-4310 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj-art-705aad059e5e41a8ac45772e2c1f01f92025-08-20T03:36:18ZengMDPI AGAerospace2226-43102025-06-0112759010.3390/aerospace12070590Vector Field-Based Robust Quadrotor Landing on a Moving Ground PlatformWoohyun Byun0Soobin Huh1Hyeokjae Jang2Suhyeong Yu3Sungwon Lim4Seokwon Lee5Woochul Nam6Department of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaDepartment of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaDepartment of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaDepartment of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaSchool of Computer Science and Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaDepartment of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaDepartment of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaThe autonomous landing of unmanned aerial vehicles (UAVs) on moving platforms has potential applications across various domains. However, robust landing remains challenging because the detection reliability of UAVs decreases when the UAV is close to a moving platform. To address this issue, this paper proposes a novel landing strategy that ensures a high detection rate. First, a robust detectable region was established by considering the sensing range and maneuverability limitations of the UAV. Second, a vector field was designed to guide the UAV to the moving platform while remaining in a robust detectable region. Next, safe and accurate landings were achieved by considering the current velocity and vector field. The landing strategy was validated through outdoor flight experiments. A quadrotor equipped with a gimbal-mounted camera was used, and a fractal marker was attached to the moving platform for detection and tracking. When the moving platform moved at a speed of 2–4.3 m/s, the UAV successfully landed on the platform with a distance error of 0.4 m. Because of the robust detectable region and vector field, the detection was conducted with a high success rate (94.9%).https://www.mdpi.com/2226-4310/12/7/590unmanned aerial vehicleautonomous landingmoving platformrobust detectable regionvector field |
| spellingShingle | Woohyun Byun Soobin Huh Hyeokjae Jang Suhyeong Yu Sungwon Lim Seokwon Lee Woochul Nam Vector Field-Based Robust Quadrotor Landing on a Moving Ground Platform Aerospace unmanned aerial vehicle autonomous landing moving platform robust detectable region vector field |
| title | Vector Field-Based Robust Quadrotor Landing on a Moving Ground Platform |
| title_full | Vector Field-Based Robust Quadrotor Landing on a Moving Ground Platform |
| title_fullStr | Vector Field-Based Robust Quadrotor Landing on a Moving Ground Platform |
| title_full_unstemmed | Vector Field-Based Robust Quadrotor Landing on a Moving Ground Platform |
| title_short | Vector Field-Based Robust Quadrotor Landing on a Moving Ground Platform |
| title_sort | vector field based robust quadrotor landing on a moving ground platform |
| topic | unmanned aerial vehicle autonomous landing moving platform robust detectable region vector field |
| url | https://www.mdpi.com/2226-4310/12/7/590 |
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