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This paper addresses the challenge of the quadrotor landing on a mobile platform, emphasizing the critical requirement for continuous visibility of the platform to ensure safety. Firstly, an Input-to-State Stable velocity observer is developed to accurately estimate the relative velocity between the quadrotor and the mobile target. Subsequently, an IBVS controller is crafted. Leveraging this controller, CBF is introduced to impose field of view constraints, ensuring that the mobile target remains within the FOV throughout the landing process. Significantly, these improvements are implemented with minimal modifications to the original controller, thereby enhancing safety. The proposed method’s efficacy is ultimately validated through comprehensive simulation analyses.

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Velocity Observer-Based Safety-Critical Vision Landing of a Quadrotor on a Ground Vehicle

  • 会议论文

  • 发表日期：

    2025年

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  • Qianqian Cao,
  • Shizhen Wu,
  • Yongchun Fang,
  • Xiao Liang

摘要

This paper addresses the challenge of the quadrotor landing on a mobile platform, emphasizing the critical requirement for continuous visibility of the platform to ensure safety. Firstly, an Input-to-State Stable velocity observer is developed to accurately estimate the relative velocity between the quadrotor and the mobile target. Subsequently, an IBVS controller is crafted. Leveraging this controller, CBF is introduced to impose field of view constraints, ensuring that the mobile target remains within the FOV throughout the landing process. Significantly, these improvements are implemented with minimal modifications to the original controller, thereby enhancing safety. The proposed method’s efficacy is ultimately validated through comprehensive simulation analyses.