Autonomous Landing of Micro Unmanned Aerial Vehicles with Landing-Assistive Platform and Robust Spherical Object Detection

Autonomous unmanned aerial vehicle (UAV) landing can be useful in multiple applications. Precise is a difficult task because of the significant navigation errors global positioning system (GPS). To overcome these and to realize precise control, various sensors have been installed on UAVs. However, this approach challenging for micro UAVs (MAVs) strong thrust forces are required carry sensors. In study, new autonomous MAV proposed, which platform actively assists landing. addition vision UAV, camera was precisely control near area. The also designed with types equipment assist searching, approaching, alignment, Furthermore, novel algorithm developed robust spherical object detection under different illumination conditions. validate proposed algorithm, 80 flight experiments were conducted using DJI TELLO drone, successfully landed every trial small position average error 2.7 cm.