Integrated Framework for Autonomous Mobile Platform Based Unmanned Aerial Vehicle Operation

In this paper, we present an integrated framework for autonomous mobile platform based UAV operation. The UAV tasks entail autonomous start and landing, as well as mobile platform following with the planned return to the base. We present the system structure including the PixHawk autopilot modifications, on-board computer set-up and the mobile base landing area configuration. We show the experimental results from the tests performed in quasi-real and in real conditions. Finally, we show the quantitative and qualitative performance description of the proposed system.