Trajectory Planning and Visual Guidance of a UAV under Field of View Constraint of Camera

When conducting visual landing, UAVs need to ensure the reasonableness of their flight trajectory and be under specific constraints on velocity and acceleration. Furthermore, to prevent the failure of the visual system, the cooperative target used for visual detection must always remain within the camera's field of view. In this paper, we first propose a PID controller-based IBVS guidance method. Then, a trajectory planning method based on the properties of Bezier curves and the tau coupling strategy is designed to satisfy the constraints on UAV velocity, acceleration, and camera field of view. Finally, the effectiveness of the proposed approach is validated through simulation.