Eagle Vision-Based Coordinate Landing Control Framework of Unmanned Aerial Vehicles on an Unmanned Surface Vehicle

Abstract

The coordinate landing control of the unmanned aerial vehicles (UAVs) is a key technology to expand the cooperation between the UAVs and the unmanned surface vehicle (USV). This paper provides an eagle vision-based coordinate landing control framework for the UAV swarm landing on a USV. Back-stepping controller is designed to guarantee that the tracking errors in both of the approaching stage and the landing stage converge to zero. Eagle vision is applied in the visual navigation to improve the landing accuracy. The experiment verified the feasibility of the proposed method.