A Fully Parameterizable Implementation of Autonomous Take-off and Landing for a Fixed Wing UAV

Abstract

The take-off and landing of an unmanned aerial vehicle is often the most critical and accident prone portion of its mission. This potential hazard coupled with the time and resources necessary to train a remote UAV pilot makes it desirable to have autonomous take-off and landing capabilities for UAVs. However, a robust, reliable, and accurate autonomous take-off and landing capability for fixed-wing aircraft is not an available feature in many low-cost UAV flight control systems. This paper describes the design of an autonomous take-off and landing algorithm implemented on an existing low-cost flight control system for a small fixed wing UAV. This paper also describes the autonomous takeoff and landing algorithm development and gives validation results from hardware in the loop simulation.