Hi-Speed Visual Servo Docking for Multicopter UAV based on Velocity Control Mode

This paper focuses on airborne recovery control of multicopter systems. System architecture and a new control strategy based on the velocity control mode are presented for the multicopter. This control method outputs the velocity control signal directly and does not necessitate re-tuning the inner loop controller. The multicopter tilt motion is also considered in the controller design. RTK GPS works together with an onboard RGB-D camera for accurate docking operations. Both simulation and field test results are presented to validate this method.