Rotorcraft aerial vehicle’s contact-based landing and vision-based localization research

Abstract A novel concept—the contact-based landing on a mobile platform—is proposed in this paper. An adaptive backstepping controller is designed to deal with the unknown disturbances in the interactive process, and the contact-based landing mission is implemented under the hybrid force/motion control framework. A rotorcraft aerial vehicle system and a ground mobile platform are designed to conduct flight experiments, evaluating the feasibility of the proposed landing scheme and control strategy. To the best of our knowledge, this is the first time a rotorcraft unmanned aerial vehicle has been implemented to conduct a contact-based landing. To improve system autonomy in future applications, vision-based recognition and localization methods are studied, contributing to the detection of a partially occluded cooperative object or at a close range. The proposed recognition algorithms are tested on a ground platform and evaluated in several simulated scenarios, indicating the algorithm’s effectiveness.