協調ミッション向け3DプリントUAVとUSVの設計・統合・海上試験
Design, Integration and Sea Trials of 3D Printed Unmanned Aerial Vehicle and Unmanned Surface Vehicle for Cooperative Missions
水上着陸可能な防水3DプリントUAVと双胴型USVを開発し、赤外ビーコンによる精密着陸とUSV制御・経路追従を統合して海上試験で検証した。
著者: Hanlin Niu, Ze Ji, Pietro Liguori, Hujun Yin, Joaquin Carrasco
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In recent years, Unmanned Surface Vehicles (USV) have been extensively deployed for maritime applications. However, USV has a limited detection range with sensor installed at the same elevation with the targets. In this research, we propose a cooperative Unmanned Aerial Vehicle - Unmanned Surface Vehicle (UAV-USV) platform to improve the detection range of USV. A floatable and waterproof UAV is designed and 3D printed, which allows it to land on the sea. A catamaran USV and landing platform are also developed. To land UAV on the USV precisely in various lighting conditions, IR beacon detector and IR beacon are implemented on the UAV and USV, respectively. Finally, a two-phase UAV precise landing method, USV control algorithm and USV path following algorithm are proposed and tested.
