This study investigates a vision-based autonomous landing algorithm using a VTOL-type UAV. VTOL (Vertical Take-Off and Landing) UAVs are hybrid systems that combine the forward flight capability of fixed-wing aircraft with the vertical take-off and landing functionality of multirotors, making them increasingly popular in drone-based industrial applications. Due to the complexity of control during the transition from multirotor mode to fixed-wing mode, many companies rely on commercial software such as ArduPilot. However, when using ArduPilot as-is, the software does not support the velocity-based GUIDED commands commonly used in multirotor systems for vision-based landing. Additionally, the GUIDED mode in VTOL software is designed primarily for fixed-wing operations, meaning its control logic must be modified to enable position-based control in multirotor mode. In this study, we modified the control software to support vision-based landing using a VTOL UAV and validated the proposed algorithm in simulation using GAZEBO. The approach was further verified through real-world experiments using actual hardware.

1. 서 론
2. 시스템 구성
    2.1 VTOL 하드웨어 구성
    2.2 소프트웨어 구성
3. 알고리즘
    3.1 상용 FC 커스텀 소프트웨어
    3.2 마커 위치 추정
4. 실험 결과
    4.1 시뮬레이션 환경
    4.2 시뮬레이션 결과
    4.3 실 비행 테스트
5. 결 론
Acknowledgement
References

• Hanseob Lee(Digital Convergence Research Laboratory, Air Mobility Research Division, ETRI) | 이한섭 (한국전자통신연구원 디지털융합연구소 에어모빌리티연구본부)
• Jongchan Baek(Digital Convergence Research Laboratory, Air Mobility Research Division, ETRI) | 백종찬 (한국전자통신연구원 디지털융합연구소 에어모빌리티연구본부) Corresponding author