Vision-based UAV Landing on the Moving Vehicle

Abstract

This paper describes the tracking guidance for the autonomous UAV landing and the vision-based detection of the marker on the moving vehicle with the real-time image processing system. The detection of the marker is based on the color detection algorithm with morphological filter and the tracking guidance is based on the relative distance between the UAV and the vehicle. In order to track and land on the moving vehicle, we have built the integrated system on the UAV platform that conducts the landing mission with the on-board image processing system. The flight test was performed with the moving vehicle in the outdoor environment, and we validated the algorithm for the vision-based autonomous landing.