Autonomous Quadrotor Landing on Inclined Surfaces using an Actuated Skids System guided by a Multi–Zone ToF Sensor

To enhance the maneuverability and versatility of quadrotor aerial platforms, in this paper we propose a novel mechanism with actuated skids that enables safe take-off and landing maneuvers on inclined surfaces. Our design features a pair of legs driven by a single servomotor, resulting in a lighter structure and simplified wiring. Unlike other systems proposed in the literature, our legs are symmetric to prevent inertial imbalances during normal flight conditions, thereby improving stability and maneuverability. Crucial information for landing maneuver planning, including distance, slope direction, and surface inclination, is obtained using a multi-zone Time-of-Flight ranging sensor, which offers enhanced resilience to visual artifacts and variable illumination conditions compared to conventional stereo-imaging solutions. The effectiveness of the proposed design is validated in a realistic simulation environment through a numerically accurate model of a small quadrotor and a Software–In–The–Loop simulated flight control stack.