The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Rough Terrain Landing Technique of Quadcopter Based on 3-Leg Landing System

3-leg 랜딩 시스템 기반 쿼드콥터의 험지 착륙 기법

  • Received : 2022.05.27
  • Accepted : 2022.08.02
  • Published : 2022.11.30
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Abstract

In this paper, we propose an intelligent three-legged landing system that can maintain stability and level even on rough terrain than conventional four-legged landing systems. Conventional landing gear has the limitation that it requires flat terrain for landing. The 3-leg landing system proposed in this paper extends the usable range of the legs and reduces the weight, allowing the quadcopter to operate in various environments. To do this, kinematics determine the joint angles and coordinates of the legs of the two-link structure. Based on the angle value of the quadcopter detected via the IMU sensor, the leg control method that corrects the posture is determined. A force sensor attached to the end of the leg is used to detect contact with the ground. At the moment of contact with the ground, landing control starts according to the value of the IMU sensor. The proposed system verifies its reliability in various environments through an indoor landing test stand. Finally, in an outdoor environment, the quadcopter lands on a 20 degree incline and 20 cm rough terrain after flight. This demonstrates the stability and effectiveness of the 3-leg landing system even on rough terrain compared to the 4-leg landing system.

Keywords

Acknowledgement

This work was partially supported by IITP grant funded by the Korea government (MSIT) (No. 2021-0-01202) and KIAT grant funded by the Korea Government (MOTIE) (P0008473, HRD Program for Industrial Innovation)

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