Autonomous dynamic docking of UAV based on UWB-vision in GPS-denied environment

• Main Authors: Cheng, Cheng, Li, Xiuxian, Xie, Lihua, Li, Li
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; Odometry; Precision Landing
• Online Access: https://hdl.handle.net/10356/163661
• Institution: Nanyang Technological University

This paper studies the autonomous docking between an Unmanned Aerial Vehicle (UAV) and a Mobile Platform (MP) based on UWB and vision sensors. To solve this problem, an integrated estimation and control scheme is proposed, which is divided into three phases: hovering, approaching and landing. In the...