Year: 2025
Type: article
Abstract: This paper presents a safe landing methodology for Unmanned Aerial Vehicles (UAVs) when the GPS-based navigation system fails or is denied or unavailable. The approach relies on the estimation of a flat landing area when landing is required in an unknown area. The proposed system is based on a lightweight computer vision algorithm that enables real-time identification of suitable landing zones using a depth camera and an onboard companion computer. Analysis of small, spatially distributed areas to calculate the mean altitude and standard deviation across regions enables reliable selection of flat surfaces. A robust landing control algorithm is activated when the area meets strict flatness conditions for a continuous period. Real-time experiments confirmed the effectiveness of this approach under disturbances, showing reliable detection of the safe zone and the robustness of the proposed control algorithm in outdoor environments.
Source: Drones
Authors: Miguel Angel Cerda, Jonathan Flores, Sergio Salazar, Iván González-Hernández, Rogelio Lozano
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W4415932333