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

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.