Methodologies for landing autonomous aerial vehicles on maritime vessels

Abujoub, Shadi; McPhee, Johanna; Irani, Rishad A.

doi:10.1016/j.ast.2020.106169

Cited by 19 publications

(8 citation statements)

References 19 publications

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“…The top plot showing the sideways movement of the UAV indicates weak oscillating motion which could be caused by too high integral gain or too short lookahead distance in combination with time delays in the communication between the UAV and DUNE. 3 The position where the UAV would have impacted the net is depicted in Fig. 13, which shows a tendency to hit slightly below the target, but no clear tendency sideways.…”

Section: Experiments With Stationary Netmentioning

confidence: 99%

“…The increased maneuverability and hover capabilities associated with VTOL UAVs make them easier to land, but this comes at a cost of increased drag, mass and complexity, and decreased payload capacity. While fixed-wing VTOL UAVs and rotary-wing only require a flat surface to land on a moving platform, as in [2][3][4], conventional fixed-wing UAVs, which this publication focuses on, relies on arrest recovery systems to land on a space-limited, moving platform. Arrest recovery systems are herein defined as some mechanical system that seeks to remove the kinetic energy from the fixed-wing UAV and bring it to a standstill.…”

Section: Introductionmentioning

confidence: 99%

“…In both [10] and [14], where multirotor UAVs are used to capture the fixed-wing UAV, the accurate alignment of the recovery system with the flight path of the incoming UAV is performed by the multirotors, while the fixed-wing flies along a predetermined path. Another way to simplify the control for the recovery is to predict the motion of the platform [15] and when conditions are safe for landing [3]. In the ideal case, with perfect prediction, this simplifies the scenario to stationary landing, although in reality the prediction of e.g.…”

Section: Introductionmentioning

confidence: 99%

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Control System Architecture for Automatic Recovery of Fixed-Wing Unmanned Aerial Vehicles in a Moving Arrest System

Gryte

Sollie

Johansen

2021

J Intell Robot Syst

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Automatic recovery is an important step in enabling fully autonomous missions using fixed-wing unmanned aerial vehicles (UAVs) operating from ships or other moving platforms. However, automatic recovery in moving arrest systems is only briefly studied in the research literature, and is not yet an option when using low-cost, commercial off-the-shelf (COTS) autopilots. Acknowledging the reliability and low cost of COTS avionics, this paper adds recovery functionality as a modular extension based on non-intrusive additions to an autopilot with very general assumptions on its interface. This is achieved by line-of-sight guidance, which sends an augmented desired position to the autopilot, to ensure line-following along a virtual runway that guides the UAV into the arrest system. The translation and rotation of this line is determined by the pose of the arrest system, determined using two Global Navigation Satellite System (GNSS) receivers, where one is configured as a Real-Time Kinematic (RTK) base station. The relative position of the UAV and arrest system is also precisely estimated using RTK GNSS. Through extensive field testing, on two different fixed-wing UAVs, the system has shown its performance and reliability; 43 recovery attempts in a stationary net hit 0.01 ± 0.25m to the right and 0.07 ± 0.20m below the target in calm conditions. Further, 15 recoveries in a barge-mounted, ship-towed net hit 0.06 ± 0.53m to the right and 0.98 ± 0.27m below the target in winds up to 4 m/s. The remaining error is largely systematic, caused by communication delays, and could be reduced with more integral effect or through direct compensation.

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Section: Experiments With Stationary Netmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Control System Architecture for Automatic Recovery of Fixed-Wing Unmanned Aerial Vehicles in a Moving Arrest System

Gryte

Sollie

Johansen

2021

J Intell Robot Syst

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“…5 Automatic landing of UAS with dynamic solutions to landing approach reduces penalties of going around and attaining favourable approach conditions. 6…”

Section: Introductionmentioning

confidence: 99%

“…5 Automatic landing of UAS with dynamic solutions to landing approach reduces penalties of going around and attaining favourable approach conditions. 6 Aircraft landing is crucial to flight operations, and proper procedures must follow in order to execute safe landing. Any landing procedure involves two major flight phases, namely gliding along runway heading and flaring pre-touchdown.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode controller based aircraft automatic landing for alternate profiles

Salahudden

Sanwale

Giri

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part G:

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In the present paper, different autonomous landing profiles are formulated and simulated. Generic landing is modelled first, wherein, approach and acquired runway heading is considered as same. The second-landing profile involves altitude hold when runway is not clear to land the aircraft. Expedited landing is the third profile modelled with a glide slope-maintained descent to reduce the ground distance required pre-touchdown. In either of the landing profiles, flare is kept the same. The merits and demerits with respect to the practicality of implementation of these profiles are then discussed. Each landing profile has been demonstrated using sliding mode controller (SMC). The asymptotic stability and finite-time proofs of the designed controller are shown using Lyapunov function. F-18 HARV aircraft is considered to test the efficacy of the formulated landing profiles. Expedited landing profile proposed here is a novel approach in which altitude descent gradient is maintained with helical descent path. Additionally, results of this approach show significant improvement in terms of possibility of initiating an unconventional and yet safe as well as economical method much nearer to the runway.

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Finite‐time disturbance observer‐based trajectory tracking control for quadrotor unmanned aerial vehicle with obstacle avoidance

Zhang

Niu

et al. 2022

Math Methods in App Sciences

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This paper investigates the problem of trajectory tracking control for quadrotor unmanned aerial vehicle (UAV) in the presence of dynamic obstacles and external disturbance forces/torques. More specifically, two new sliding mode disturbance observers are firstly designed to estimate the external disturbances, in which the observation errors can converge to zero in finite time. Furthermore, utilizing the observation information, a new sliding mode surface-like variable-based position tracking control scheme and a novel nonsingular terminal sliding mode-based attitude synchronization control scheme are developed to drive the UAV tracking the reference trajectory with obstacle avoiding. Moreover, the tracking errors of the close-loop control system can converge to zero within finite time by the analyses of Lyapunov methodology. Finally, the numerical simulation results are presented to illustrate the effectiveness of the proposed control schemes.

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Methodologies for landing autonomous aerial vehicles on maritime vessels

Cited by 19 publications

References 19 publications

Control System Architecture for Automatic Recovery of Fixed-Wing Unmanned Aerial Vehicles in a Moving Arrest System

Control System Architecture for Automatic Recovery of Fixed-Wing Unmanned Aerial Vehicles in a Moving Arrest System

Sliding mode controller based aircraft automatic landing for alternate profiles

Finite‐time disturbance observer‐based trajectory tracking control for quadrotor unmanned aerial vehicle with obstacle avoidance

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