Guidance Law for Vision-Based Automatic Landing of UAV

Title & Authors
Guidance Law for Vision-Based Automatic Landing of UAV
Min, Byoung-Mun; Tahk, Min-Jea; Shim, Hyun-Chul David; Bang, Hyo-Choong;

Abstract
영어 초록 In this paper, a guidance law for vision-based automatic landing of unmanned aerial vehicles (UAVs) is proposed. Automatic landing is a challenging but crucial capability for UAVs to achieve a fully autonomous flight. In an autonomous landing maneuver of UAVs, the decision of where to landing and the generation of guidance command to achieve a successful landing are very significant problem. This paper is focused on the design of guidance law applicable to automatic landing problem of fixed-wing UAV and rotary-wing UAV, simultaneously. The proposed guidance law generates acceleration command as a control input which derived from a specified time-to-go (tgo) polynomial function. The coefficient of tgo-polynomial function are determined to satisfy some terminal constraints. Nonlinear simulation results using a fixed-wing and rotary-wing UAV models are presented.
Keywords
Guidance law;Vision-based;Automatic landing;Fixed-wing;Rotary-wing;t$\small{_{go}}$ - polynomial;Terminal constraints;Nonlinear simulation;
Language
English
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POLYNOMIAL FUNCTION BASED GUIDANCE FOR IMPACT ANGLE AND TIME CONTROL, Journal of the Korea Society for Industrial and Applied Mathematics, 2015, 19, 3, 305
5.
Augmented Polynomial Guidance With Impact Time and Angle Constraints, IEEE Transactions on Aerospace and Electronic Systems, 2013, 49, 4, 2806
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