Path Planning and Control of a Quadrotor Landing on a Ground Moving Target

被引：0

作者：

Wang, Ningyuan ^{[1
]}

Yao, Yu ^{[1
]}

He, Fenghua ^{[1
]}

Hao, Ning ^{[1
]}

机构：

[1] Harbin Inst Technol, Harbin 150001, Heilongjiang, Peoples R China

来源：

PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年

关键词：

autonomous landing; quadrotor; path planning; landing control; TRACKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a landing control problem is investigated in which a quadrotor is required to autonomously land on a desired area of a ground moving target. In order to guarantee the reliability and continuity of the target recognition, the path planning of the quadrotor has to be considered under the constraints of its position, velocity and acceleration. Due to the affection of the velocity measurement of the quadrotor by the motion of the target, the landing process is divided into two stages. The switching time of the two stages are given and the control laws for the two stages are designed based on the PID control method. The effectiveness of the proposed path planning and landing control algorithm is demonstrated by simulation results.

引用

页码：6264 / 6269

页数：6

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