Review on quadrotor vision guided autonomous landing on a moving platform

DOI:	10.11809/bqzbgcxb2023.04.010
Keywords:	air ground cooperation; quadrotor; autonomous landing; moving platform; vision guided
Abstract:	It is the premise for a quadrotor to realize air ground cooperation if it can land on a moving ground platform quickly and accurately in a limited space, charge or recover freely, and ensure autonomous return flights. In order to further promote the research and development of air ground cooperation technology in China, this paper reviews the recent research of vision guided autonomous landing of quadrotors on a moving ground platform. Based on a brief introduction of the overall process and main framework of autonomous landing technology of a quadrotor, the key technologies are summarized: landing marker detection and identification, state estimation for the quadrotor and the moving ground platform, as well as landing trajectory tracking and controller design. Meanwhile, the corresponding research methods are analyzed and summarized for each key technology, and various elements of the autonomous landing system designed by several research teams at home and abroad are reviewed, including main hardware equipment, corresponding key technologies and achievements obtained. Finally, the current research difficulties and feasible solutions are discussed, and the key directions of future development are prospected.
Issue:	Vol. 44 No. 4 (2023)
Published:	2023-04-28
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