Autonomous Landing of a Multicopter on a Moving Platform Based on Vision Techniques

This paper proposes the whole system scheme designed for the autonomous landing of a multicopter on a moving platform. The technology used for the tracking and landing is the visual detection and recognition of a marker placed on the platform. Both the hardware and software architecture are explained and also the results of some succesful tests are shown. In addition, the proposed system was validated and compared during the MBZIRC robotics competition in March 2017.