Vision Based Pad Detection for Autonomous Landing Quadcopter

Robust developments in the world of robotics with the presence of commonly called Unmanned Aerial Vehicles (UAV), the use of these UAVs can be categorized quite broadly such as for military, security, and other purposes, one of the efforts to improve the performance of UAVs is to add a feature to be able to land autonomously on the landing pad. This research focuses on designing the quadcopter so that it can land precisely on the landing pad using image processing algorithms. First the captured image will be converted to grayscale, then the thresholding method is carried out and followed by a morphological process to eliminate noise and produce a clear image, then the detected image will be displayed in a frame that will calculate the distance to the middle point, then it will be used as Pulse Width Modulation (PWM) input to adjust the direction of motion of the UAV so that it can land autonomously, Testing is carried out to test the accuracy and precision of the designed algorithm. The results of the experiment show an accuracy rate of 94.76% and a precision level of 96.59% with an average landing time of 19 seconds and an average detection time is 8.55 milliseconds.