This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by the design of the inner-loop control. At the second stage, the image features on the textured target plane are exploited to derive a vision-based control law. The image of the spherical centroid of a set of landmarks present in the landing target is used as a position measurement, whereas the translational optical flow is used as velocity measurement. The kinematics of the vision-based system is expressed in terms of the observable features, and the proposed control law guarantees convergence without estimating the unknown distance between the vision system and the target, which is also guaranteed to remain strictly positive, avoiding undesired collisions. The performance of the proposed control law is evaluated in MATLAB and 3-D simulation software Gazebo. Simulation results for a quadrotor UAV are provided for different velocity profiles of the moving target, showcasing the robustness of the proposed controller.

本文探讨了使用基于图像的视觉伺服控制解决空中载具（如四旋翼无人机）在移动平台上的着陆问题。首先介绍了四旋翼飞行器的数学模型，然后设计内环控制。在第二阶段中，利用纹理目标平面上的图像特征来推导基于视觉的控制定律。使用降落目标中一组地标的球形质心的图像作为位置测量，而平移光流作为速度测量。使用可观察特征来表达基于视觉的系统的运动学，并且所提出的控制定律确保收敛，无需估计视觉系统与目标之间的未知距离，同时保证该距离始终保持严格为正，避免意外碰撞。通过MATLAB和3D仿真软件Gazebo对所提出的控制定律进行了评估。对于移动目标的不同速度配置文件，提供了四旋翼无人机的仿真结果，展示了所提出控制器的鲁棒性。

基于视觉的航空器在海洋船只上降落控制