Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with a steady relative state and reliable perception is a prerequisite. This paper presents an adaptive dynamic tracking and perching scheme for autonomous quadrotors to achieve tight integration with moving platforms. For reliable perception of dynamic targets, we introduce elastic visibility-aware planning to actively avoid occlusion and target loss. Additionally, we propose a flexible terminal adjustment method that adapts the changes in flight duration and the coupled terminal states, ensuring full-state synchronization with the time-varying perching surface at various angles. A relaxation strategy is developed by optimizing the tangential relative speed to address the dynamics and safety violations brought by hard boundary conditions. Moreover, we take SE(3) motion planning into account to ensure no collision between the quadrotor and the platform until the contact moment. Furthermore, we propose an efficient spatiotemporal trajectory optimization framework considering full state dynamics for tracking and perching. The proposed method is extensively tested through benchmark comparisons and ablation studies. To facilitate the application of academic research to industry and to validate the efficiency of our scheme under strictly limited computational resources, we deploy our system on a commercial drone (DJI-MAVIC3) with a full-size sport-utility vehicle (SUV). We conduct extensive real-world experiments, where the drone successfully tracks and perches at 30~km/h (8.3~m/s) on the top of the SUV, and at 3.5~m/s with 60{\deg} inclined into the trunk of the SUV.

翻译：在运动平台上实现栖落是提升四旋翼续航能力和作业范围的有效方案，可显著提高多种空地协同任务的效率。为确保鲁棒栖落，具备稳态相对状态与可靠感知能力的追踪是必要前提。本文提出一种面向自主四旋翼的自适应动态追踪与栖落方案，以实现与运动平台的紧密协同。针对动态目标的可靠感知，我们引入弹性可见性感知规划机制，主动规避遮挡与目标丢失。此外，提出一种柔性终端调整方法，能够适应飞行时长与耦合终端状态的变化，确保在不同角度下与时变栖落面实现全状态同步。通过优化切向相对速度开发松弛策略，解决硬边界条件带来的动力学与安全性冲突。同时，将SE(3)运动规划纳入考量，确保四旋翼与平台在接触前不发生碰撞。进一步提出考虑全状态动力学的时空轨迹优化框架，用于追踪与栖落任务。通过基准对比与消融实验对所提方法进行充分测试。为促进学术研究成果向工业应用转化，并在严格受限计算资源下验证方案有效性，我们将系统部署于商用无人机（大疆御3）与全尺寸运动型多功能车（SUV）平台。开展大量真实环境实验，成功实现无人机以30 km/h（8.3 m/s）速度追踪并栖落于SUV车顶，以及以3.5 m/s速度、60°倾角栖落至SUV后备箱内。