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Open AccessArticle

Research on Optimal Landing Trajectory Planning Method between an UAV and a Moving Vessel

1
Research Center of Basic Space Science at Harbin Institute of Technology, Harbin Institute of Technology, Haerbin 150001, China
2
School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China
*
Authors to whom correspondence should be addressed.
Appl. Sci. 2019, 9(18), 3708; https://doi.org/10.3390/app9183708
Received: 23 July 2019 / Revised: 31 August 2019 / Accepted: 3 September 2019 / Published: 6 September 2019
(This article belongs to the Special Issue Control and Soft Computing)
The location, velocity, and flight path angle of an autonomous unmanned aerial vehicle (UAV) landing on a moving vessel are key factors for an optimal landing trajectory. To tackle this challenge, this paper proposes a method for calculating the optimal approach landing trajectory between an UAV and a small vessel. A numerical approach (iterative method) is used to calculate the optimal approach landing trajectory, and the initial lead is introduced in the calculation process of the UAV trajectory for the inclination and heading angle for accuracy improvement, so that the UAV can track and calculate the optimal landing trajectory with high precision. Compared with the variational method, the proposed method can calculate an optimal turning direction angle for the UAV during the landing. Simulation experiments verify the effectiveness of the proposed algorithm and give optimal initialization values. View Full-Text
Keywords: unmanned aerial system (UAS); ship; trajectory planning; dichotomy search unmanned aerial system (UAS); ship; trajectory planning; dichotomy search
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MDPI and ACS Style

Tan, L.; Wu, J.; Yang, X.; Song, S. Research on Optimal Landing Trajectory Planning Method between an UAV and a Moving Vessel. Appl. Sci. 2019, 9, 3708.

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