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GNC
Autonomous Drone
Landing on Moving Object
Report
Overview
This project focused on guidance and control for autonomous quadrotor landing on a moving ground vehicle. The system used a cascaded PID/PD control architecture with flight-phase logic and velocity feedforward to manage approach, tracking, and touchdown. Performance centered on precise relative motion control and stable terminal landing under dynamic target motion.
Key Contributions
- Cascaded PID/PD guidance and control architecture for quadrotor landing
- Autonomous tracking and landing on a moving ground vehicle
- Velocity feedforward to improve target-following performance
- Centimeter-level touchdown accuracy with flight-phase landing logic
Documents & Media
Technical report covering the control architecture, landing logic, simulation setup, and performance results.