Vision-Based Autonomous Landing for the MPC Controlled Fixed Wing UAV

Sevinç Günsel, Şeref Naci Engin, Mustafa Doğan

2025

Abstract

This work introduces a novel vision-based autonomous landing system for fixed-wing UAVs optimized for GPS-denied environments. We combine vSLAM with the linear MPC strategy. A key innovation is to use an SVD-based Kalman filter in vSLAM, which significantly improves map point update accuracy and efficiency by reducing noise. The system precisely defines the landing area using image segmentation and Watershed Transform for real-time vSLAM data, then draws a rotated bounding box. This visual data feeds the linearized MPC, which computes the optimal control inputs which are longitudinal acceleration, yaw rate, vertical velocity to guide the UAV along the landing trajectory. Simulation results confirm the robust and effective performance of our integrated vSLAM-MPC architecture in precisely guiding the UAV to the landing zone.

Paper Citation

in Harvard Style

Günsel S., Engin Ş. and Doğan M. (2025). Vision-Based Autonomous Landing for the MPC Controlled Fixed Wing UAV. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 227-234. DOI: 10.5220/0013710600003982

in Bibtex Style

@conference{icinco25,
author={Sevinç Günsel and Şeref Engin and Mustafa Doğan},
title={Vision-Based Autonomous Landing for the MPC Controlled Fixed Wing UAV},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2025},
pages={227-234},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013710600003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Vision-Based Autonomous Landing for the MPC Controlled Fixed Wing UAV
SN - 978-989-758-770-2
AU - Günsel S.
AU - Engin Ş.
AU - Doğan M.
PY - 2025
SP - 227
EP - 234
DO - 10.5220/0013710600003982
PB - SciTePress