Robot-assisted landings for aircrafts which are able to take off and land vertically offer the capability to speed up and automate landing and turnaround processes and are particularly advantageous for challenging landing conditions such as wind gusts or a moving landing platform. To perform an assisted landing, a precise and robust control approach is required, covering movement synchronization, catching and decelerating. In this paper a novel approach on model predictive trajectory planning for robot-assisted landings of unmanned aerial vehicles is designed, implemented and analyzed. The approach enables an unmanned aerial vehicle to be caught in hovering flight state using a 6-axis robotic arm with a positive-locking gripper. The trajectory planning utilizes a simplified robot model assuming an approximately linear mapping between Cartesian velocities and joint velocities, justified by a limited robot workspace. The aircraft’s flight trajectory is predicted using a Kalman filter to overcome the robot’s delay behavior. Catching tolerances between aircraft and gripper result in slackness for the synchronization process and are exploited during the trajectory planning. The suitability of the approach presented is analyzed and discussed in simulations, laboratory tests and several flight tests.
Quadrotor unmanned aerial vehicles (UAVs) have advantages such as simple structure, flexible manipulation, and strong capabilities of vertical takeoff/landing and hovering, thus being widely applied in various complex environments and tasks. However, their short endurance limits the scope of application. The collaborat...
Xiao-Kang Zhu, Teng Fang, Biao Zou et al.· Engineering Reports· 0 citations
Flying a quadrotor through a cluttered environment requires not only planning a collision-free reference trajectory based on perceived obstacles, but the reference also needs to be dynamically feasible and within the actuation limits of the vehicle, so that the controller can track it precisely. Existing methods either...
Ondřej Procházka, Juraj Pauko, Robert Pěnička et al.· 0 citations
Autonomous landing of unmanned aerial vehicle (UAV) on unmanned surface vehicle (USV) is difficult in high sea states. Existing hierarchical landing methods often infer future USV motion only implicitly from short observation histories, which limits their ability to adapt to severe and rapidly changing sea conditions....
Simulation results for a three-UAV swarm in a cluttered environment demonstrate that the proposed distributed NMPC-based trajectory planning method can generate dynamically feasible and collision-free trajectories, while enabling the swarm to reach the assigned target positions and preserve the desired formation within...
Ying-Ting Cui, Tong-Xin Zeng, Bin Li· Drones· 0 citations
The transition phase from vertical to horizontal flight represents one of the most
challenging operating conditions for vertical take-off and landing unmanned aerial vehicles
because of significant changes in aerodynamic forces, flight attitude, propulsion requirements,
and control effectiveness. This study proposes...
I. Isgandarov, M. Hajizada· Вестник Академии гражданской...· 0 citations
Safe and accurate recovery of fixed-wing Unmanned Aerial Vehicles(UAVs) is a critical aspect of autonomous operations, especiallyfor systems designed for hand or catapult launch, which may lack landing gear. Under these conditions, parachute systems are often used for a safe landing, although using these systems for pr...
Nezar Sahbon, Michał Welcer, Albert Zajdel et al.· Bulletin of the Polish Acade...· 0 citations
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