Autonomous Landing of an Unmanned Aerial Vehicle

Abstract

This paper is concerned with the problem of autonomously landing an unmanned aerial vehicle (UAV) on a stationary platform. Our solution consists of two parts, a sensor fusion framework producing estimates of the UAV state and a control system that computes appropriate actuator commands. There are three sensors used, a camera, a GPS and a compass. Besides the description of the solution, we also present experimental results illustrating the results obtained in using our system to autonomously land an UAV