A ROS Based Automatic Control Implementation for Precision Landing on Slow Moving Platforms Using a Cooperative Fleet of Rotary-Wing UAVs

Antenucci, A.; Mazzaro, S.; Fiorilla, Angelo Emanuele; Messina, L.; Massa, Andrea; Matta, Walter

doi:10.1109/icrae50850.2020.9310899

Cited by 7 publications

(4 citation statements)

References 4 publications

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“…One of the main methods, as mentioned before, is the visual approach using onboard cameras and tags on the docking stations, also called markers. Papers such as [8][9][10][11][12][13][14][15] deal with such solutions. The visual approach is a good option for small UAVs and micro-UAVs which have a camera since there is no need for any extra sensors to be mounted on.…”

Section: Fixed Docking Stationmentioning

confidence: 99%

See 1 more Smart Citation

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

Grlj

Krznar²,

Pranjic

2022

Drones

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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.

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Section: Fixed Docking Stationmentioning

confidence: 99%

“…[40]. The different parts are described in the paper as: Carousel (1), Servo Motor (2), Rocker Arm (3), UAV Battery Holder (4), Battery Bracket (5), Arm Battery Holder (6), Finger with motor (7), Bottom Battery Holder (8), Carousel Bracket Height (9), and Shaft (10).…”

Section: Detailed Overviewmentioning

confidence: 99%

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

Grlj

Krznar²,

Pranjic

2022

Drones

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“…However, the oversimplified dynamic model is unsuitable for simulating transition and level flight modes. Wu et al (2019) and Antenucci et al (2020) developed robot operating system (ROS)-based software-in-the-loop (SIL) platforms. Although these platforms can provide a virtual visual environment for users, they cannot easily access the probing of internal dynamic and control signals.…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of a hardware-in-the-loop simulation platform for a tail-sitter UAV

Zhao-yu

Liu

Zhao

et al. 2023

AEAT

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Purpose A high-fidelity simulation platform helps to verify the feasibility of the controller and reduce the cost of subsequent experiments. Therefore, this paper aims to design a high-fidelity hardware-in-the-loop (HIL) simulation platform for the tail-sitter vehicles. Design/methodology/approach The component breakdown approach is used to develop a more reliable model. Thruster dynamics and ground contact force are also modeled. Accurate aerodynamic coefficients are obtained through wind tunnel tests. This simulation system adopts a mode transition method to achieve continuous simulation for all flight modes. Findings Simulation results are in good agreement with the flight log and successfully predict the state of the vehicle. Originality/value First, the effects of the propeller slipstream are considered. Second, most researchers ignore the parasitic drag caused by the landing gear and other appendages, which is discussed in this study. Third, a ground contact model is implemented to allow a realistic simulation of the takeoff and landing phases. Fourth, complete wind tunnel tests are conducted to obtain more accurate aerodynamic coefficients. Finally, a mode transition method is deployed in the HIL simulation system to achieve continuous simulation for all flight modes.

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“…Nevertheless, this technology is not always available or it is sometimes incapable of giving an acceptable level of accuracy, as can happen when the inside of a tank of a petrochemical plant is to be inspected. For this reason, in the literature, complementary landing assistance systems (LASs) are proposed based on computer vision techniques [ 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 ], a fusion between computer vision techniques and inertial measurement units (IMUs) [ 20 , 21 , 22 , 23 , 24 , 25 ], computer vision, IMU and ultrasonic sensors [ 26 ], computer vision and a Time-of-Flight-based height sensor [ 27 ], computer vision and GNSS [ 28 , 29 ] and even an approach fusing onboard cameras and a robotic total station [ 30 ]. The main setback of traditional vision-based systems is their strong dependency on weather or lighting conditions.…”

Section: Introductionmentioning

confidence: 99%

UWB and IMU-Based UAV’s Assistance System for Autonomous Landing on a Platform

Ochoa-de-Eribe-Landaberea

Zamora-Cadenas

Peñagaricano-Muñoa³

et al. 2022

Sensors

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This work presents a novel landing assistance system (LAS) capable of locating a drone for a safe landing after its inspection mission. The location of the drone is achieved by a fusion of ultra-wideband (UWB), inertial measurement unit (IMU) and magnetometer data. Unlike other typical landing assistance systems, the UWB fixed sensors are placed around a 2 × 2 m landing platform and two tags are attached to the drone. Since this type of set-up is suboptimal for UWB location systems, a new positioning algorithm is proposed for a correct performance. First, an extended Kalman filter (EKF) algorithm is used to calculate the position of each tag, and then both positions are combined for a more accurate and robust localisation. As a result, the obtained positioning errors can be reduced by 50% compared to a typical UWB-based landing assistance system. Moreover, due to the small demand of space, the proposed landing assistance system can be used almost anywhere and is deployed easily.

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A ROS Based Automatic Control Implementation for Precision Landing on Slow Moving Platforms Using a Cooperative Fleet of Rotary-Wing UAVs

Cited by 7 publications

References 4 publications

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

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

Design and implementation of a hardware-in-the-loop simulation platform for a tail-sitter UAV

UWB and IMU-Based UAV’s Assistance System for Autonomous Landing on a Platform

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