Abstract
Recent years, unmanned aerial vehicles (UAVs) have been used to perform various tasks such as surveillance, monitoring, rescue, photography, and security. Quadcopter configuration of UAV is most common due to its simplicity, stability, and versatile controllability. Quadcopter landing is most crucial part of the overall operating process. It needs a lot of practice and effort for a safe landing. Therefore, a fuzzy logic-based safe landing system is proposed in this paper. This paper includes a landing system based on laser rangefinder, Arduino Mega MCU, and Pixhawk flight controller. The lookup table technique is used to implement fuzzy logic inside Arduino Mega. This technique takes very small execution time for data processing in fuzzy logic, which is essential for high-speed data processing and updating. Autonomous landing process can be triggered and override at any time using remote controller. Furthermore, various tests are performed on a quadcopter to verify the feasibility of proposed algorithm.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
Luukkonen, T.: Modelling and control of quadcopter. Independent research project in applied mathematics. Espoo, August 22 (2011)
Huang, H.; Hoffmann, G.M.; Waslander, S.L.; Tomlin, C.J.: Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering. In: IEEE International Conference on Robotics and Automation, pp. 3277–3282 (2009)
Lavi, B.: Human body detection and safety care system, for flying robot. In: Second International Conference on Advanced Information Technologies and Applications (ICAITA), pp. 329–337 (2013)
Jeffrey, J.; Yanev, A.; Biaz, S.; Murray, C.: UAV Quadcopter Landing on a Displaced Target. Technical Report #CSSE14-05
Sefidgari, B.L.; Shamchi, S.P.: Auto-landing process for autonomous flying robot by using image processing based on edge detection. In: CS and IT-CSCP, pp. 361–368 (2014)
Bouabdallah, S.: Design and Control of Quadrotors with Application to Autonomous Flying. Ph.D Thesis, Ecole Polytechnique Federale de Lausanne, pp. 129–136 (2007)
Mellinger, D.: Trajectory Generation and Control for Quadrotors. Phd’s Thesis, University of Pennsylvania, pp. 136–152 (2012)
Yingcai, B.; Haibin, D.: Implementation of autonomous visual tracking and landing for a low-cost quadrotor. Optik Int. J. Light Electron Opt. 124, 3296–3300 (2013)
Charland-Arcand, G.: Controle non lineaire par backstepping d’un helicoptere de type quadrotor pour des applications autonomes. Master’s thesis, Ecole de technologie sup’erieure, pp. 165–180 (2014)
Gomes Carreira, T.: Quadcopter Automatic Landing on a Docking Station. Master’s thesis, TECNICO LISBOA, pp. 63–95 (2013)
Chamseddine, A.; Charland-Arcand G.; Akhrif O.; Gagne, S.; Gagnon, F.; et Couillard, D.: Optimal position seeking for unmanned aerial vehicle communication relay using only signal strength and angle of arrival. In: IEEE 53rd Annual Conference on Decision and Control (CDC) (2014)
Zhu, H.; Yuan, S.; Shen, Q.: Vision/GPS-based docking control for the UAV autonomous aerial refueling. In: Guidance, Navigation and Control Conference (CGNCC), IEEE Chinese (2016)
Beck, H.; Lesueur, J.; Charlan-Archand, G.; Akihrif, O.; Gagon, S.; Gagon, F.; Couillard, D: Autonomous takeoff and landing of a quadcopter. In: International Conference on Unmanned Aircraft Systems (ICUAS) (2016)
Khan, M.: Quadcopter flight dynamics. Int. J. Sci. Technol. Res. 10(8), 1–5 (2014)
Borowcky, A.; Nuguyrn, D.-T.; Nguyen, D.Q.; Saussie, D.; Le N.J.: Autonomous landing of a multirotor micro air vehicle on a high velocity ground vehicle. In: IFAC-PapersOnLine, vol. 50, no 1 (2017)
Borshchova, I.; O’young, S.: Marker-guided auto-landing on a moving platform. Int. J. Intell. Unmanned Syst. 5(1), 24–28 (2017)
Nguyen, P.H.; Kim, K.W.; Lee, Y.W.; Park, K.R.: Remote Marker-Based Tracking for UAV Landing Using Visible-Light Camera Sensor. In: Sensors/MDPI (2017)
Torres, C.; Wechsler, A.; Diaz, R.; Vargas, C.; Shinde, P.; Tosunoglu, S: Quadcopter with Vertical Landing Payload System. Department of Mechanical and Materials Engineering, Florida International University
Radhakrishnan, A.: An Experimental Investigation of Ground Effect on a Quad Tilt Rotor in Hover and Low-Velocity Forward Flight. Ph.D. Thesis, University of Maryland, College Park (2006)
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest regarding the publication of this paper.
Rights and permissions
About this article
Cite this article
Talha, M., Asghar, F., Rohan, A. et al. Fuzzy Logic-Based Robust and Autonomous Safe Landing for UAV Quadcopter. Arab J Sci Eng 44, 2627–2639 (2019). https://doi.org/10.1007/s13369-018-3330-z
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s13369-018-3330-z