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.

Autonomous mobile robots based on the Web have been already used in public places such as museums. There are many kinds of problems to be solved because of the limitation of Web and the dynamically changing environment. We present a methodology for intelligent mobile robot that demonstrates a certain degree of autonomy in navigation applications. In this paper, we focus on a mobile robot navigator equipped with neuro-fuzzy controller which perceives the environment, make decisions, and take actions. The neuro-fuzzy controller equipped with collision avoidance behavior and target trace behavior enables the mobile robot to navigate in dynamic environment from the start location to goal location. Most telerobotics system workable on the Web have used standard Internet techniques such as HTTP, CGI and Scripting languages. However, for mobile robot navigations, these tools have significant limitations. In our study, C# and ASP.NET are used for both the client and the server side programs because of their interactivity and quick responsibility. Two kinds of simulations are performed to verify our proposed method. Our approach is verified through computer simulations of collision avoidance and target trace.