Prototyping of a multirotor UAV for precision landing under rotor failures

TL;DR

This paper introduces a fault-tolerant multirotor UAV prototype capable of precise autonomous landings despite rotor failures, combining mechanical design, fault-tolerant control, and vision-based navigation validated through preliminary experiments.

Contribution

It presents a novel fault-tolerant multirotor UAV prototype with integrated vision-based landing, advancing autonomous landing capabilities under rotor failure conditions.

Findings

Successful demonstration of fault-tolerant control in prototype

Validation of vision-based navigation for precision landing

Prototype capable of autonomous landing despite rotor failures

Abstract

This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant multirotor, and a vision-based navigation system required to achieve a precision landing. Preliminary experimental results will be shown, to validate on one hand the fault-tolerant control vehicle and, on the other hand, the autonomous landing algorithm. Also, a prototype of the fault-tolerant UAV is presented, capable of precise autonomous landing, which will be used in future experiments.