Development of Auto Takeoff and Landing System for a Coaxial MAV

Abstract

This paper discusses the preliminary development of an auto takeoff and landing system to be used onboard a mini coaxial helicopter using a bio-inspired approach used by honeybees. The auto takeoff and landing is implemented by regulating the thrust to attain a constant optic flow. The sensor is an ADNS 3080 optical mouse sensor pointing vertically downwards. The proof of ceoncept is demonstrated using a circling arm mechanism with rotorcraft and sensor assembly onboard. The Optic Flow Regulator (OFR) allows the vehicle to perform auto takeoff and landing. During the takeoff it directs the rotorcraft to attain a steady throttle value and a constant height. During landing, the vehicle descends down from a known height to rest. All the processing is done onboard using an Arduino mini and ADNS 3080. It can be concluded that the displacement output from the optical mouse chip can be taken as a good measure of optic flow. A tethered helicopter with a fixed pitch and no roll or yaw can successfully perform auto takeoff and landing using a simple proportional controller and a compact sensing unit. By using two or more such sensors and integrating them with an inertial measurement unit, it is possible to perform auto takeoff and landing on a free flying vehicle.