Autonomous Navigation and Control System for Capturing a Moving Drone

This paper describes an autonomous navigation and control system for capturing the maneuvering drones. A vision-based navigation method seeks and detects the intruding drone, then, the target trajectory is predicted by fusing onboard vision and inertial-measurement resources. The target's relative position, velocity and acceleration are also obtained at the same time. Then, we present a modified proportional-derivative (PD) algorithm based on the estimated target states. In addition, the boundary constraints of the protected area are considered to avoid a collision. The proposed capture navigation and control system has demonstrated its efficiency both in simulation, flight experiments, and MBZIRC 2020, where our team won the Challenge I competition.