University of Portsmouth 3MT final

Saul Armendariz Puente, School of Engineering, Faculty of Technology

OVERVIEW:
​Near-ground manoeuvres, such as landing, are key elements in unmanned aerial vehicle navigation. Traditionally, these manoeuvres have been done using external reference frames to measure or estimate the velocity and the height of the vehicle. Complex near-ground manoeuvres are performed by flying animals with ease by exclusively using the information from their vision and vestibular system. In this research, Tau theory is used, a visual strategy that is used by many animals to approach objects. Here, it is shown how this approach can be used to perform near-ground manoeuvres in a vertical and horizontal manner on a moving target without the knowledge of height and velocity of either the vehicle or the target. The proposed system was tested with simulations were the vehicle is able to perform landing on a moving target, while enabling the user to choose the dynamic characteristics of the approach.

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