Abstract
Over the last few years, several researchers have been developing protocols and applications in order to autonomously land unmanned aerial vehicles (UAVs). However, most of the proposed protocols rely on expensive equipment or do not satisfy the high precision needs of some UAV applications such as package retrieval and delivery or the compact landing of UAV swarms. Therefore, in this work, a solution for high precision landing based on the use of ArUco markers is presented. In the proposed solution, a UAV equipped with a low-cost camera is able to detect ArUco markers sized 56 × 56 cm from an altitude of up to 30 m. Once the marker is detected, the UAV changes its flight behavior in order to land on the exact position where the marker is located. The proposal was evaluated and validated using both the ArduSim simulation platform and real UAV flights. The results show an average offset of only 11 cm from the target position, which vastly improves the landing accuracy compared to the traditional GPS-based landing, which typically deviates from the intended target by 1 to 3 m.
Highlights
There has been a growing interest in unmanned aerial vehicles (UAVs)
Achieving accurate landing of multirotor UAVs remains a challenging issue, as Global Positioning System (GPS)-based landing procedures are associated with errors of a few meters even under ideal satellite reception conditions, performing worse in many cases
In this work a vision-based landing solution that relies on ArUco markers is presented
Summary
There has been a growing interest in unmanned aerial vehicles (UAVs). Their applications are diverse, ranging from surveillance, inspection and monitoring, to precision agriculture and package retrieval/delivery. Landing a UAV is acknowledged as the last and most critical stage of navigation [1]. The number of accidents associated to the UAV landing process represent. 80% of the hazard cases [2]. Improved landing techniques are being intensely explored. Some of the applications mentioned above, such as package retrieval, require a high level of accuracy so as to make sure the UAV lands exactly on the desired target
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