International Journal of Aerospace Engineering / 2019 / Article / Alg 1

Research Article

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: ,
14:     Extended matrix ;
15:   end if
16:  end for
17: end for

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