Mission 1: Autonomous Takeoff/Landing with Trajectory Following

Mission Videos

Mission 1 [*.mov 4.6MB], [*.mp4 8.7MB]
Simulated Mission [sm.jpg]
Mission Log [ml.jpg]
Overlay [ol.jpg]

Mission Context

Two essential flight modes for fully autonomous missions are Take-O and Landing. Autonomous landing in arbitrary regions on arbitrary surfaces is a major challenge and an open problem with great complexity. In meeting this challenge, a number of constraints can be imposed along the way which simplify the landing problem but which still provide great challenges. For instance, one can assume that any landing spot will have a man-made pattern. This can be used by the UAV to visually navigate and land on the pattern.

Pre-Mission Prep

The UAV is given a directive to complete a fully autonomous mission where it is to take-o from home base, y a trajectory around a large building in the Revinge region and then land autonomously at Home Base using visual navigation.

Mission Goal

Test autonomous take-o , landing and trajectory following by following around building 45. The mission is to start and end at Home Base.

Scenario Sequence

Take-off autonomously from Home Base
Follow a trajectory around building 45
Land autonomously at Home Base