An experimental vision-based integrated guidance and control strategy for autonomous landing of a faulty UAV

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dc.authoridKHANEGHAEI, MOHAMMAD/0009-0006-8295-743X
dc.contributor.authorKhaneghaei, Mohammad
dc.contributor.authorAsadi, Davood
dc.contributor.authorZahmatkesh, Mohsen
dc.contributor.authorTutsoy, Onder
dc.date.accessioned2026-02-27T07:33:16Z
dc.date.available2026-02-27T07:33:16Z
dc.date.issued2025
dc.description.abstractUncrewed Aerial Vehicles (UAVs) have emerged as a transformative asset in surveillance, mapping, and delivery tasks since they have sophisticated autonomous capabilities. This paper develops a practical vision-based optimal flight planning strategy for autonomous safe landing and control of a multirotor UAV using a low-cost monocular camera in the presence of a motor fault. An optimal integrated guidance and control strategy is developed by utilizing an innovative discrete system model and a state observer from the triggering point to the identified landing position. Additionally, compatible image processing techniques and UAV kinematics are integrated to detect the suitable landing site and translate its location into desired attitude inputs to the controller. This approach empowers the UAV to autonomously land in no-GPS environments, relying solely on camera data. Initially, vision-based sensors, image processing techniques, and the developed guidance and control algorithms undergo initial evaluation in Software in the Loop (SIL) simulations using the Robot Operating System (ROS) and Gazebo simulation environments. The efficacy of the proposed framework is then assessed through experimental flight tests across various landing scenarios, accounting for local wind conditions and motor faults.
dc.description.sponsorshipScientific and Technological Research Council of Turkey (TUBITAK) under the 1005 program [123M222]
dc.description.sponsorshipThe author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This research is supported by the Scientific and Technological Research Council of Turkey (TUBITAK) under the 1005 program, with project number [123M222].
dc.identifier.doi10.1177/09596518251339288
dc.identifier.endpage1716
dc.identifier.issn0959-6518
dc.identifier.issn2041-3041
dc.identifier.issue9
dc.identifier.startpage1700
dc.identifier.urihttp://dx.doi.org/10.1177/09596518251339288
dc.identifier.urihttps://hdl.handle.net/20.500.14669/4523
dc.identifier.volume239
dc.identifier.wosWOS:001507703800001
dc.indekslendigikaynakWeb of Science
dc.language.isoen
dc.publisherSAGE Publications Ltd
dc.relation.ispartofProceedings of The Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering
dc.relation.publicationcategoryMakale - Uluslararas� Hakemli Dergi - Kurum ��retim Eleman�
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_20260302
dc.subjectVision-based landing
dc.subjectmultirotor UAV
dc.subjectfault-tolerant
dc.subjectguidance and control
dc.subjectROS
dc.subjectgazebo
dc.subjectflight test
dc.titleAn experimental vision-based integrated guidance and control strategy for autonomous landing of a faulty UAV
dc.typeArticle

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