Vision-Guided Tracking and Emergency Landing for UAVs on Moving Targets

Abstract

This paper presents a vision-based adaptive tracking and landing method for multirotor Unmanned Aerial Vehicles (UAVs), designed for safe recovery amid propulsion system failures that reduce maneuverability and responsiveness. The method addresses challenges posed by external disturbances such as wind and agile target movements, specifically, by considering maneuverability and control limitations caused by propulsion system failures. Building on our previous research in actuator fault detection and tolerance, our approach employs a modified adaptive pure pursuit guidance technique with an extra adaptation parameter to account for reduced maneuverability, thus ensuring safe tracking of moving objects. Additionally, we present an adaptive landing strategy that adapts to tracking deviations and minimizes off-target landings caused by lateral tracking errors and delayed responses, using a lateral offset-dependent vertical velocity control. Our system employs vision-based tag detection to ascertain the position of the Unmanned Ground Vehicle (UGV) in relation to the UAV. We implemented this system in a mid-mission emergency landing scenario, which includes actuator health monitoring of emergency landings. Extensive testing and simulations demonstrate the effectiveness of our approach, significantly advancing the development of safe tracking and emergency landing methods for UAVs with compromised control authority due to actuator failures.