Predictive Motion Planning for VTOL Landings on Vertically Moving Marine Platforms

This paper presents an algorithm developed for scheduling the landing of an aircraft on a vertically moving marine platform. The algorithm incorporates the relative velocity of the aircraft and marine platform, ensuring a higher probability of landing below the desired relative touchdown velocity. The detection of potential landing instant is dependent on a prediction algorithm that takes into account the platform's motion. Furthermore, the algorithm prioritizes landing at heave peak points on the platform, resulting in a more stable landing. The efficacy of the algorithm is demonstrated through numerical examples and software-in-the-loop (SITL) simulations on X-Plane flight simulator, showing safer landing compared to traditional scheduling methods. This algorithm has potential applications in the fields of commercial aviation and military operations where precision landing on moving platforms is crucial such as landing on ships and offshore oil rigs.