Autonomous Landing of an Unmanned Helicopter on a Moving Platform based on LP Path Planning

Abstract

Autonomous landing of an unmanned helicopter 00 a moving platform can greatly expand its application field. In this paper, a path planning method based 00 linear programming (LP) is proposed in the relative coordination to finish the autonomous landing task. First, the landing procedure is divided into four stages. Then, the linear constraints in each stage are established accordingly which include helicopter's flight envelope constraint and target kinematical constraint. Based 00 the established LP formulations, the flight control systemrs optimal velocity expectation is derived. A simulation system based on Flight Gear and Matlab is established and used as the validation platform for this approach, the simulation results demonstrate the effectiveness and efficiency of this approach and the real flight test is under development.