Autonomous landing for a Quadrotor UAV using a visual input

Name: Jeerasak Moudpoklang

Organization : Navaminda Kasatriyadhiraj Royal Air Force Academy. Department of Mechanical Engineering

Email : moudpoklang@windowslive.com

keyword: Quadrotor UAV

ThaSH: Drone aircraft

; Autonomous Landing

ThaSH: Automatic control

ThaSH: Image processing

Abstract: This paper presents the design and implementation of a real-time vision system for a quadrotor UAV in order to estimate its state relative to a known landing target. The quadrotor UAV is required to identify a landing target, and track on it. We use contours algorithm for landing target recognition and an Extended Kalman filter for position estimation. We use linear segments with parabolic blends for trajectory planning of quadrotor UAV. The quadrotor UAV can track and land on a target by using PID controller. Flight test results show that our vision-based state estimator along with the effectiveness of PID controller are accurate within 30 cm by measuring from the center of quadrotor UAV to the center of landing target.

King Mongkut's University of Technology North Bangkok. Central Library

Address: BANGKOK

Email: library@kmutnb.ac.th

Created: 2016

Modified: 2026-07-17

Issued: 2026-07-17

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BibliograpyCitation : In Chulalongkorn University Faculty of Engineering. The 7th TSME International Conference on Mechanical Engineering 2016 (TSME-ICoME7) (AME0015). Bangkok : Chulalongkorn University

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