Autonomous Tracking and Landing of QUAV Based on Air-Ground Cooperation

Quadrotor Unmanned Aircraft Vehicle (QUAV) and ground mobile platform work together to accomplish tasks, which have significant application value in military and civilian fields. In this paper, in the process of autonomous tracking and landing of the QUAV on the ground mobile platform, the method of "air-ground cooperation" is proposed aiming at the loss of target caused by sudden changes of the ground moving target position and the delay caused by information processing of the QUAV. The movement of the platform is estimated through the inertial sensors on the ground platform, and it is fused with the visual servo information of the QUAV to obtain an advance compensational control quantity. According to the motion state of the QUAV and the platform, the control strategies of horizontal position tracking, vertical landing and the adaptive dynamic adjustment of the control parameters are designed. The simulation results show that the proposed method improves the real-time performance and stability compared with the traditional visual servo-based method, and ensures the effective tracking and stable landing of the QUAV.