Research On Autonomous Landing Control Of Quadrotor UAV Based On Vision-guiding

Under the background that rotary UAVs have been applied in more and more missions,greater autonomous demands of the market have been increased.Taking a quadrotor UAV as the experiment platform,a vision-based quadrotor UAV target tracking and autonomous landing control system is designed,aiming to improve the autonomous flight capability of the UAV.Firstly,the mathematical model,flight principle and control system of quadrotor UAV are analysed and the design of visual guidance controller is also determined.Based on the system function and non-functional requirement,the overall structure of control system is designed.Besides,the design and lectotype of each module of the hardware platform are realized with the idea of modularization.Secondly,based on the feature information of the specific target,the target recognition strategy and the visual tracking algorithm are researched emphatically.Aiming at the problem that the visual tracking algorithm can not provide accurate visual guidance signal steadily when there is similar color interference and the target is obscured,some effective optimization methods are proposed.On the basis of the system hardware,the software of the target recognition and tracking is developed and its functions are tested in the actual environment.Thirdly,the communication software between visual navigation module and quadrotor UAV is designed.On the basis of the establishment of system communication,the solution of visual guidance signal and the autonomous landing strategy of UAV are proposed.After studying the flight control program,visual tracking flight mode and autonomous landing mode of UAV are designed respectively.In order to improve the autonomy of UAV,an autonomous take-off function was added to the visual tracking flight mode.Finally,the hardware and software of system are integrated and the tests of system's functions are conducted under the actual flight environment.The results show that target tracking and autonomous landing control system of quadrotor UAV can realize the functions of autonomous take-off,tracking the moving target and landing on static or moving target autonomously and this system has good reliability and universality for different multi-rotor UAV.