Robust Autonomous Landing of a Quadrotor on a Moving Target

Autonomous landing is the most difficult maneuver in a quadrotor mission because of challenges like (i) external disturbances and localization error both of which cause deviation from the desired trajectory and may result in a crash. In this paper, we use onboard vision to detect and estimate the landing target parameters accurately. We present a guidance framework to land on a moving target accurately. We discuss the advantages and present the simulation results for a simple 2D scenario for the proposed framework. We present implementation of the proposed algorithm for a quadrotor vehicle simulated in Microsoft Airsim using unreal engine as base and discuss various cases to evaluate robustness of the landing algorithm in presence of disturbances.