AERIAL VEHICLE TOUCHDOWN DETECTION
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United States of America Patent
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Issued Date -
Aug 15, 2019
app pub date -
Feb 11, 2019
filing date -
Feb 9, 2018
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Abstract
A technique is introduced for touchdown detection during autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing perception inputs with a dynamics model of the aerial vehicle to estimate the external forces and/or torques acting on the aerial vehicle. The estimated external forces and/or torques are continually monitored while the aerial vehicle is landing to determine when the aerial vehicle is sufficiently supported by a landing surface. In some embodiments, semantic information associated with objects in the environment is utilized to configure parameters associated with the touchdown detection process.
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