Hybrid VTOL UAV Autonomous Operations from Mobile Landing Pad

Ambroziak, Leszek; Kownacki, Cezary; Bożko, Arkadiusz

doi:10.1109/mmar55195.2022.9874343

Cited by 3 publications

(3 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Tracking of the landing pad was active in a limited time window, but the speed of the barge was also limited to 5 km/h. The achieved precision of landing back on the landing pad at a value of 1 m and at a low speed of 5 km/h in the discussed tests should not be increased meaningfully in the next stage of experiments in inland [ 15 ] and in maritime conditions on a ferry [ 16 ], whose cruise speed is about 20 km/h. The results of this further research will confirm this conclusion clearly.…”

Section: Discussionmentioning

confidence: 99%

“…To realize this crucial functionality, a system composed of UAVs with built-in autopilot, an onboard computer, and a landing pad navigational station supported by UWB (ultra wide band) technology [ 12 , 13 , 14 ] was designed and built. Next, a series of experiments was planned to include tests in inland conditions [ 15 ], on a lake, and in real maritime conditions on a ferry [ 16 , 17 ]. This article will focus only on tests on the lake, 10 trials of take-offs and landings for each kind of UAV, and the primary aim is to achieve landing accuracy below 1 m at a landing pad speed of up to 5 km/h.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Precision Landing Tests of Tethered Multicopter and VTOL UAV on Moving Landing Pad on a Lake

Kownacki

Ambroziak

Ciężkowski

et al. 2023

Sensors

Self Cite

View full text Add to dashboard Cite

Autonomous take-off and landing on a moving landing pad are extraordinarily complex and challenging functionalities of modern UAVs, especially if they must be performed in windy environments. The article presents research focused on achieving such functionalities for two kinds of UAVs, i.e., a tethered multicopter and VTOL. Both vehicles are supported by a landing pad navigation station, which communicates with their ROS-based onboard computer. The computer integrates navigational data from the UAV and the landing pad navigational station through the utilization of an extended Kalman filter, which is a typical approach in such applications. The novelty of the presented system is extending navigational data with data from the ultra wide band (UWB) system, and this makes it possible to achieve a landing accuracy of about 1 m. In the research, landing tests were carried out in real conditions on a lake for both UAVs. In the tests, a special mobile landing pad was built and based on a barge. The results show that the expected accuracy of 1 m is indeed achieved, and both UAVs are ready to be tested in real conditions on a ferry.

show abstract

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Precision Landing Tests of Tethered Multicopter and VTOL UAV on Moving Landing Pad on a Lake

Kownacki

Ambroziak

Ciężkowski

et al. 2023

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…A significant part of UAV propulsion system failures concerns precisely such situations where we do not have a complete loss of rotational speed. The authors of this article dealt with many similar situations during the implementation of the last research and the development of the project, which concerned the use of UAVs of the VTOL type in collision-free navigation of sea-going vessels [ 22 , 23 ]. In this project, one of the aircraft used was the hybrid VTOL (quadwing airframe).…”

Section: Research Motivationmentioning

confidence: 99%

Multirotor Motor Failure Detection with Piezo Sensor

Ambroziak

Ołdziej

Koszewnik

2023

Sensors

Self Cite

View full text Add to dashboard Cite

Failure detection of Unmanned Aerial Vehicle (UAV) motors and propulsion systems is the most important step in the implementation of active fault-tolerant control systems. This will increase the reliability of unmanned systems and increase the level of safety, especially in civil and commercial applications. The following paper presents a method of motor failure detection in the multirotor UAV using piezo bars. The results of a real flight, in which the failure of the propulsion system caused the crash of a hybrid VTOL UAV, were presented and analyzed. The conclusions drawn from this flight led to the development of a lightweight, simple and reliable sensor that can detect a failure of the UAV propulsion system. The article presents the outcomes of laboratory tests concerning measurements made with a piezo sensor. An extensive analysis of the obtained results of vibrations recorded on a flying platform arm with a propulsion system is presented, and a methodology for using this type of data to detect failures is proposed. The article presents the possibility of using a piezoelectric sensor to record vibrations on the basis of which it is possible to detect a failure of the UAV propulsion system.

show abstract