Sistema Embarcado para Pouso de Veículo Aéreo Não Tripulado em Plataformas Móveis

Abstract

This article describes an autonomous system for an Unmanned Aerial Vehicle capable of landing on static and mobile platforms. A high-level landing control strategy called Velocity Field Shaping is proposed, which is responsible for the vertical control of the hexacopter. Furthermore, a PID controller is used for horizontal regulation, ensuring accurate performance during landing. To robustly estimate the position during landing, an approach based on computer vision is used that combines advanced image processing techniques with the use of binary fiducial markers. This approach makes it possible to perform safe and precise landing maneuvers, even in challenging environments. Finally, a case study is presented that validates the proposed system, demonstrating its real application in the landing of a hexacopter in an autonomous vessel at sea.