A novel velocity planning method for autonomous landing of unmanned aerial vehicles on mobile platforms
To address the problems of excessive acceleration, deceleration, reverse flight, and multiple oscillations in current unmanned aerial vehicle landing, this paper studies the velocity planning method for unmanned aerial vehicle autonomous landing on a mobile platform and proposes a velocity planning method for autonomous landing based on mobile platform gradient and risk weight. Simulation experiments show that compared with the Fast-perching landing method, our method reduces the number of excessive acceleration, deceleration, and oscillation, avoids reverse flight, and improves the landing time efficiency by 30 . 76％, horizontal landing efficiency by 26 . 47％, and vertical landing efficiency by 37. 5％. Thus, it may prove useful, providing an effective solution for the velocity planning problem of autonomous landing of unmanned aerial vehicles on mobile platforms.
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