Vision Based Autonomous Landing of the Quadrotor Using Fuzzy Logic Control

摘要

This paper focuses on the vision based autonomous landing of quadrotor using fuzzy logic controller with low-cost USB camera as perceptive system. Visual algorithm adopts open source AprilTag detection method with robustness to illumination variation and high accuracy in long range of distance. In order to make the quadrotor flying in continuous and smooth status in position and velocity, we adopt fuzzy PID logic as the controller to calculate desired velocity in longitude, latitude and vertical axis. First, using visual position feedback and the fuzzy PID controller velocity output, the quadrotor aligns its center with the pad center as well as reduce the altitude until lands. The control method has been tested in simulation, and the whole system has been carried out in real outdoor environment.