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：在移动平台上停靠是提升四旋翼飞行器续航能力和作业范围的一种有效方案，有益于提高多种空地协同任务的效率。为实现稳健停靠，稳定相对状态下的追踪与可靠感知是必要前提。本文提出一种面向自主四旋翼的自适应动态追踪与停靠方案，以实现与移动平台的紧密耦合。针对动态目标的可靠感知，我们引入了弹性可见性感知规划方法以主动避免遮挡和目标丢失。此外，我们提出一种灵活的终端调整方法，可自适应飞行时长和耦合终端状态的变化，确保在不同角度下与时变停靠面实现全状态同步。为应对硬边界条件带来的动力学与安全性问题，我们通过优化切向相对速度发展了一种松弛策略。进一步，我们考虑了SE(3)运动规划，确保四旋翼与平台在接触时刻前不发生碰撞。同时，我们提出一种高效考虑全状态动力学的时空轨迹优化框架，用于追踪与停靠。所提方法通过基准对比与消融研究进行了广泛验证。为推动学术研究成果在工业界的应用，并在严格受限的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MAVIC3）与全尺寸运动型多用途车（SUV）上。我们开展了大量真实世界实验，无人机成功以30公里/小时（8.3米/秒）速度追踪并停驻于SUV顶部，并以3.5米/秒速度、60°倾斜角停入SUV后备箱。