Vision based autonomous docking of VTOL UAV using a mobile robot manipulator

Narvaez, Eduardo; Ravankar, Ankit A.; Ravankar, Abhijeet; Kobayashi, Yukinori; Emaru, Takanori

doi:10.1109/sii.2017.8279205

Cited by 8 publications

(6 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The current research focuses on the autonomous landing of the surface and ground platform when the movement speed of the multi-rotor UAV facing the platform is low, mostly below 3 m/s [2][3][4][5]13,14,17,18], and the ground platform movement speed is sometimes relatively fast, reaching 4.2 m/s (15 km/h) [15,16,19]. However, the flight speed of the fixed-wing state aerial landing platform far exceeds that in existing research; therefore, this paper has particular significance for further applications for aerial child unmanned systems.…”

Section: Related Workmentioning

confidence: 99%

“…Child-mother unmanned systems are currently receiving a lot of attention in the cooperative operation of unmanned systems because of their ability to effectively extend the operational range and time of child unmanned systems, reduce the operational risk of mother unmanned systems, and improve the mission flexibility of unmanned systems. At the moment, the most common child unmanned systems use an unmanned surface vessel (USV)/unmanned ground vehicle (UGV) as the mother system or mother platform, and a multi-rotor unmanned aerial vehicle (UAV) as the child system [2][3][4][5], with a lot of research focusing on the aerial child system's recovery and landing. These studies laid the groundwork for autonomous cooperative operation of aerial platforms and ground or surface platforms.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Trajectory Planning and Control Design for Aerial Autonomous Recovery of a Quadrotor

Du,

Chang,

Tang

et al. 2023

Drones

View full text Add to dashboard Cite

One of the most essential approaches to expanding the capabilities of autonomous systems is through collaborative operation. A separated lift and thrust vertical takeoff and landing mother unmanned aerial vehicle (UAV) and a quadrotor child UAV are used in this study for an autonomous recovery mission in an aerial child–mother unmanned system. We investigate the model predictive control (MPC) trajectory generator and the nonlinear trajectory tracking controller to solve the landing trajectory planning and high-speed trajectory tracking control problems of the child UAV in autonomous recovery missions. On this basis, the estimation of the mother UAV movement state is introduced and the autonomous recovery control framework is formed. The suggested control system framework in this research is validated using software-in-the-loop simulation. The simulation results show that the framework can not only direct the child UAV to complete the autonomous recovery while the mother UAV is hovering but also keep the child UAV tracking the recovery platform at a speed of at least 11 m/s while also guiding the child UAV to a safe landing.

show abstract

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Trajectory Planning and Control Design for Aerial Autonomous Recovery of a Quadrotor

Du,

Chang,

Tang

et al. 2023

Drones

View full text Add to dashboard Cite

show abstract

“…The first ones are ground-moving docking stations. Some of them are Unmanned Ground Vehicles which have landing systems mounted on, like in [65][66][67][68][69][70][71]. The UGV can be used to swap the battery of a UAV, like in [72] or to wirelessly charge the battery- [35,73,74].…”

Section: Mobile Docking Stationmentioning

confidence: 99%

A Decade of UAV Docking Stations: A Brief Overview of Mobile and Fixed Landing Platforms

Grlj

Krznar²,

Pranjic

2022

Drones

View full text Add to dashboard Cite

Unmanned Aerial Vehicles have advanced rapidly in the last two decades with the advances in microelectromechanical systems (MEMS) technology. It is crucial, however, to design better power supply technologies. In the last decade, lithium polymer and lithium-ion batteries have mainly been used to power multirotor UAVs. Even though batteries have been improved and are constantly being improved, they provide fairly low energy density, which limits multirotors’ UAV flight endurance. This problem is addressed and is being partially solved by using docking stations which provide an aircraft to land safely, charge (or change) the batteries and to take-off as well as being safely stored. This paper focuses on the work carried out in the last decade. Different docking stations are presented with a focus on their movement abilities. Rapid advances in computer vision systems gave birth to precise landing systems. These algorithms are the main reason that docking stations became a viable solution. The authors concluded that the docking station solution to short ranges is a viable option, and numerous extensive studies have been carried out that offer different solutions, but only some types, mainly fixed stations with storage systems, have been implemented and are being used today. This can be seen from the commercially available list of docking stations at the end of this paper. Nevertheless, it is important to be aware of the technologies being developed and implemented, which can offer solutions to a vast number of different problems.

show abstract

“…However, it can be assumed that landing on a platform always needs some docking mechanism to prevent the UAV from falling from the landing platform. This is why the authors in [113] approached the docking of a quadrotor at the flange of an MRM within a ROS and Gazebo simulation environment with a focus on docking mechanisms. An eyein-hand device detected visual information about the relative pose of the UAV and MRM at the end of the manipulator flange and a marker underneath the UAV.…”

Section: Landing the Uav On An Mrmmentioning

confidence: 99%

“…The same authors validated their system in [114] with real scenario experiments. In addition to the simulation in [113], the authors extended their former approach with a control strategy, path planning algorithms for UAVs and MRMs, and simulating physical contact forces between robots for a robust design of a docking device. In experiments, the UAV executed exploration tasks, performed heterogeneous surveys in interest points and flew back to the MRM for safe storage and transport.…”

Section: Landing the Uav On An Mrmmentioning

confidence: 99%

Systematic literature review of applications and usage potentials for the combination of unmanned aerial vehicles and mobile robot manipulators in production systems

Sinnemann

Boshoff

Dyrska

et al. 2022

Prod. Eng. Res. Devel.

View full text Add to dashboard Cite

The cooperation of Unmanned Aerial Vehicles (UAVs) and Mobile Robot Manipulators (MRMs) offers enormous possibilities to modern industry. It paves the way for logistics, cooperative assembling or manipulation and will provide even more flexibility and autonomy to today’s manufacturing processes. Currently, some systematic literature reviews exist that provide an overview on research fields and gaps in the field of UAVs and MRMs. However, an investigation of the research landscape for combined use of UAVs and MRMs does not exist to the best of the authors’ knowledge. Therefore, in this paper, a systematic review of the current research landscape for the combined use of UAV and MRM is conducted to finally identify fields of action that need to be addressed in the future to harness the full potential.

show abstract

Vision based autonomous docking of VTOL UAV using a mobile robot manipulator

Cited by 8 publications

References 15 publications

Trajectory Planning and Control Design for Aerial Autonomous Recovery of a Quadrotor

Trajectory Planning and Control Design for Aerial Autonomous Recovery of a Quadrotor

A Decade of UAV Docking Stations: A Brief Overview of Mobile and Fixed Landing Platforms

Systematic literature review of applications and usage potentials for the combination of unmanned aerial vehicles and mobile robot manipulators in production systems

Contact Info

Product

Resources

About