LP Based Path Planning for Autonomous Landing of An Unmanned Helicopter on A Moving Platform

Chong Wu, Juntong Qi, Dalei Song, Jianda Han


Autonomous landing of an unmanned helicopter (UH) on a moving platform can greatly expand its application field. In this paper, a path planning method based on linear programming (LP) is proposed in the relative coordination to finish the autonomous landing task. First, the landing procedure is divided into four stages. Then, the linear constraints in each stage are established respectively which include helicopter’s flight envelope constraints and target kinematic constraints. Based on the established LP formulations, the flight control system’s optimal velocity expectation is derived. A simulation system based on FlightGear and Matlab is established and used as the validation platform for this approach, the simulation results demonstrate the effectiveness and efficiency of this approach and the real flight test is under development.


autonomous landing; LP; moving platform

Full Text:



S. Saripalli, et al., "Landing a helicopter on a moving target," in Proceedings of IEEE International Conference on Robotics and Automation, 2007, pp. 10-14.

O. Shakernia, et al., "A Vision System for Landing an Unmanned Aerial Vehicle," in Proceedings of IEEE International Conference on Robotics and Automation, 2002, pp. 1720-1727.

S. R. Oh, et al., "Approaches for a tether-guided landing of an autonomous helicopter," IEEE Transactions on Robotics, vol. 22, pp. 536-544, 2006.

X. Yang, et al., "Design of a gust-attenuation controller for landing operations of unmanned autonomous helicopters," in Proceedings of IEEE Control Applications (CCA) & Intelligent Control (ISIC), 2009, pp. 1300-1305.

Y. Chen and J. Han, "LP-based path planning for target pursuit and obstacle avoidance in 3D relative coordinates," in Proceedings of American Control Conference, 2010, pp. 5394-5399.

Y. Chen, et al., "Three-dimensional path planning for unmanned aerial vehicle based on linear programming," Robotica, vol. 30, pp. 773-781, 2012.

A. Richards and J. P. How, "Aircraft trajectory planning with collision avoidance using mixed integer linear programming," in Proceedings of American Control Conference, 2002, pp. 1936-1941.

D. Zu, J. D. Han, and D. L. Tan. “MILP-based Trajectory Generation inRelative Velocity Coordinates”, in Proceedings of the 46th IEEE Conference on Decision and Control, 2007, pp. 1975-1980.

C. Mou, W. Qing-xian and J. Chang-sheng, “A modified antoptimization algorithm for path planning of UCAV,” Appl. SoftComput. 8(4), 1712–1718 (2008).

C. Goerzen, et al., "A survey of motion planning algorithms from the perspective of autonomous UAV guidance," Journal of Intelligent & Robotic Systems, vol. 57, pp. 65-100, 2010.

F. C. J. Allaire, et al., "FPGA Implementation of Genetic Algorithm for UAV Real-Time Path Planning," Journal of Intelligent & Robotic Systems, vol. 54, pp. 495-510, 2009.

Z. Wang, et al, “A full-functional Simulation and Test Platform for Rotorcraft Unamnned Aerial vehicle Automouse Control” in Proceedings of International Conference on Robot Intelligence Technology and Applications (RiTA), 2012, pp. 1205-1212.

S.Scherer, L. Chamberlain, and S. Singh., "Autonomous Landing at Unprepared Sites by a Full-Scale Helicopter." Robotics and Autonomous Systems 60(2012), pp. 1545-1562.

C. Wu, et al, “Autonomous Landing of an Unmanned Helicopter on a Moving Platform based on LP Path Planning” in Proceedings of the 8th International Conference on Intelligent Unmanned Systems, 2012, pp. 44-49.

J. Qi, D. Song, L. Dai, J. Han, “The New Evolution for SIA Rotocraft UAV Project”, Journal of Robotics, vol.2010, article ID 743010.

J. Qi, D. Song, L. Dai, J. Han, “The ServoHeli-20 rotorcraft UAV project”, International Journal of Intelligent Systems Technologies and Applications, Vol. 8, pp. 57-69, 2010.

C. Wu, D. Song, J. Qi, J. Han, “Design and Implementation of a Compact RUAV Navigation Syste”, in Proceedings of IEEE International Conference on Robotics and Biomimetics, 2010, pp. 1219-1224.

J. Qi, X. Zhao, Z. Jiang, J. Han, “Design and implement of a rotorcraft UAV testbed”, in Proceedings of IEEE International Conference on Robotics and Biomimetics, 2006, pp. 109-114.

D. Song, J. Qi, J. Han, G. Liu, “Active Modeling Based Predictive Control for Unmanned Helicopter in Full Flight Envelope”, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 616-621.

DOI: http://dx.doi.org/10.21535%2Fjust.v1i1.2


  • There are currently no refbacks.

Creative Commons License
This work is licensed under a Creative Commons Attribution 3.0 License.