Vision based fuzzy control autonomous landing with UAVs: From V-REP to real experiments

This paper is focused on the design of a vision based control approach for the autonomous landing task of Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs). Here is presented the setup of a simulated environment developed in V-REP connected to ROS, and its uses for tuning a vision based control approach. In this work, a Fuzzy control approach was proposed to command the UAV´s vertical, longitudinal, lateral and orientation velocities. The UAV´s pose estimation was done based on a vision algorithm and the knowledge of the landing target. Real experiments with a quadrotor landing in a moving platform are also presented.