A hybrid fuzzy approach for landing of a quad-rotor MAV based on a novel vision localization method

摘要

The aim of this paper is to present a practical method to land a Quadrotor MAV (Micro Arial Vehicle) on a landing pad or charger dock station. Nowadays Quadrotor MAVs are very popular but due to nonlinear dynamics and ground effects problems landing of a Quadrotor MAV is a control challenge specially in outdoor environments. For this purpose a high level fuzzy controler and a low level PID stablizer along with fast and optimized vision localization method is proposed. to implement this method we built a low cost experimental robot platform hardware which were designed for outdoor environments and is also presented as well. The proposed algorithm also tested by SITL(Software In The Loop) method and the results of simulation prove the proposed algorithm's performance.