Multi-criteria Decision Making for Autonomous UAV Landing

Multi-criteria Decision Making for Autonomous UAV Landing

연구 분야: Verification

학회: 2023 IEEE International Conference on Imaging Systems and Techniques (IST)

As unmanned aerial vehicles (UAVs) are becoming increasingly popular, their safety features turn out to be vital, not only for protecting the aircraft itself, but also people and property on the ground. Emergency landings are fairly common fail-safe scenarios, where a UAV is compelled to land at the closest safe area. This can be achieved by detecting landing obstacles on the ground, as in our previously safety landing work. Building upon that, we propose a multi-criteria decision module to quantify the danger each obstacle poses to landing operation. We evaluated our system using Gazebo Simulator in scenarios consisting of both moving and static people. The results were promising, showing the robustness of our pipeline in different test-scenarios.