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Autonomous landing is a capability that is essential to achieve the fullpotential of multi-rotor drones in many social and industrial applications. Theimplementation and testing of this capability on physical platforms is riskyand resource-intensive; hence, in order to ensure both a sound design processand a safe deployment, simulations are required before implementing a physicalprototype. This paper presents the development of a monocular visual system,using a software-in-the-loop methodology, that autonomously and efficientlylands a quadcopter drone on a predefined landing pad, thus reducing the risksof the physical testing stage. In addition to ensuring that the autonomouslanding system as a whole fulfils the design requirements using a Gazebo-basedsimulation, our approach provides a tool for safe parameter tuning and designtesting prior to physical implementation. Finally, the proposed monocularvision-only approach to landing pad tracking made it possible to effectivelyimplement the system in an F450 quadcopter drone with the standardcomputational capabilities of an Odroid XU4 embedded processor.

Monocular visual autonomous landing system for quadcopter drones using software in the loop