Autonomous landing system for aerial mobile robot cooperation

摘要

In vision-based autonomous landing, the accuracy of GPS signal and the efficiency of target tracking and detecting will affect the performance in autonomous landing system. This paper presents a method of cooperation among two aerial mobile robots at high altitude and low altitude for autonomous navigation and landing. Fully utilizing the extensive vision and high flexibility on the high-altitude aerial mobile robot to control the low-altitude aerial mobile robot to finish tracking and landing procedures. The flight controller achieves to track target and attitude control in real time. The flight controller using high level control which are fuzzy logic and neural network to give to low level control. The aerial mobile robots use the fuzzy logic control and neural network for positioning and maneuvering, and image-based visual servoing for tracking the low-altitude aerial mobile robot and landing target. By applying these methods, we have achieved a scalable and robust procedures for autonomous landing.