Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark
Algorithm 1
: IAEC algorithm.
Input: : initial constraint parameters, : the width of the feasible corridor, : max velocity constraint of the MAV, : Constraint relaxation coefficient, : maximum number of iterations
Output: : final constraint parameters, : final landing trajectory parameters
1: Initialize: ;
2: for to do
3: Calculated with equality constraints and OOQP package:
4: for to size of ()do
5: Define as the corresponding point on the feasible corridor of ;
6: if then
7: Add new position equality constraints: ;
8: end if
9: if then
10: Add new velocity equality constraints: ;
11: end if
12: if new constraints are added then
13: Relaxation of adjacent waypoints constraints: ,