Hardware-in-the-loop Simulation for Real-time Autonomous Tracking and Landing of an Unmanned Aerial Vehicle

Nobuaki Aoki, Genya Ishigami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Collaborative exploration using unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has become increasingly popular in the past decade. This study addresses real-time autonomous tracking and landing of a UAV on a moving ground vehicle, which is fundamental for the UAV-UGV collaborative exploration. The method proposed in this study estimates the relative pose and velocity between a UAV and UGV, and uses model predictive control for UAV trajectory planning while considering the field of view of the camera onboard the UAV. We elaborate the hardware-in-the-loop simulator (HITL) with a physical companion computer, and confirm that the proposed method enables a UAV to land on a UGV traversing on rough terrain based on online computations in the HITL. Additionally, we present statistical analysis of the simulation results of typical and computationally demanding scenarios to elucidate the computational cost on the real machine.

Original languageEnglish
Title of host publication2023 IEEE/SICE International Symposium on System Integration, SII 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350398687
DOIs
Publication statusPublished - 2023
Event2023 IEEE/SICE International Symposium on System Integration, SII 2023 - Atlanta, United States
Duration: 2023 Jan 172023 Jan 20

Publication series

Name2023 IEEE/SICE International Symposium on System Integration, SII 2023

Conference

Conference2023 IEEE/SICE International Symposium on System Integration, SII 2023
Country/TerritoryUnited States
CityAtlanta
Period23/1/1723/1/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Computational Mechanics
  • Control and Optimization
  • Modelling and Simulation
  • Surgery
  • Instrumentation

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