UAV precision landing on moving boat

• Main Author: Zhu, Yanbiao
• Other Authors: Xie Lihua
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/158244
• Institution: Nanyang Technological University

Landing an unmanned aerial vehicle on a moving boat has long been a stumbling block in the development of fully autonomous flight, which has enormous promise for commercial and military uses. Thus, in this project, a solution is to attach a servo motor-based Stewart platform to the bottom of the UAV as landing gear and to detect the platform's orientation using a stereo camera and an onboard PC running ROS. The suggested landing algorithm makes use of a variety of control approaches, including a rotation matrix and a posture restriction, to assure the UAV's stability and landing accuracy. This landing approach was validated in a simulated environment to assure its reliability. According to the test results, it is capable of landing accurately on both fixed tilted and moving surfaces.