Autonomous landing of a VTOL UAV on a ship deck moving on standing wavy sea using camera and laser range finder

Date

2024-1

Author

Mancar, Ali

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This thesis investigates the development of an autonomous landing system for Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicles (UAV) on ship decks in wavy sea conditions. This system aligns the UAV's movements with the ship's motion. It focuses on methodologies for precise and smooth landing using low computational cost image processing of AprilTag for landing point detection, and a descent rate control algorithm utilizing a laser rangefinder. Proportional – Integral – Derivative (PID) controllers are employed for horizontal position and vertical velocity control. The results demonstrate successful, precise, and smooth UAV landings on moving and oscillating ship decks, enhancing autonomous UAV operations in maritime environments. Simulation results are verified by some physical experiments.

Subject Keywords

Vertical Takeoff and Landing Unmanned Aerial Vehicle (VTOL UAV), Quadplane, Autonomous Ship Landing, Proportional – Integral – Derivative (PID), AprilTag

URI

https://hdl.handle.net/11511/108495

Collections

Graduate School of Natural and Applied Sciences, Thesis