International Journal of Aeronautical and Space Sciences

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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Guidance Law for Vision-Based Automatic Landing of UAV

  • Min, Byoung-Mun (Department of Aerospace Engineering, School of Mechanical, Aerospace & Systems Engineering, Korea Advanced Institute of Science and Technology(KAIST)) ;
  • Tahk, Min-Jea (Department of Aerospace Engineering, School of Mechanical, Aerospace & Systems Engineering, Korea Advanced Institute of Science and Technology(KAIST)) ;
  • Shim, Hyun-Chul David (Department of Aerospace Engineering, School of Mechanical, Aerospace & Systems Engineering, Korea Advanced Institute of Science and Technology(KAIST)) ;
  • Bang, Hyo-Choong (Department of Aerospace Engineering, School of Mechanical, Aerospace & Systems Engineering, Korea Advanced Institute of Science and Technology(KAIST))
  • Published : 2007.06.30
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Abstract

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 ($t_go$) polynomial function. The coefficient of $t_go$-polynomial function are determined to satisfy some terminal constraints. Nonlinear simulation results using a fixed-wing and rotary-wing UAV models are presented.

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References

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