荒天・乱流の外洋でUAVを着陸させる
Landing a UAV in Harsh Winds and Turbulent Open Waters
USVの揺れをカメラ映像から予測し、傾きがほぼゼロになる瞬間を狙ってUAVを自律着陸させるMPC手法を提案した。
著者: Parakh M. Gupta, Eric Pairet, Tiago Nascimento, Martin Saska
分類: cs.RO
原文アブストラクト
Landing an unmanned aerial vehicle unmanned aerial vehicle (UAV) on top of an unmanned surface vehicle (USV) in harsh open waters is a challenging problem, owing to forces that can damage the UAV due to a severe roll and/or pitch angle of the USV during touchdown. To tackle this, we propose a novel model predictive control (MPC) approach enabling a UAV to land autonomously on a USV in these harsh conditions. The MPC employs a novel objective function and an online decomposition of the oscillatory motion of the vessel to predict, attempt, and accomplish the landing during near-zero tilt of the landing platform. The nonlinear prediction of the motion of the vessel is performed using visual data from an onboard camera. Therefore, the system does not require any communication with the USV or a control station. The proposed method was analyzed in numerous robotics simulations in harsh and extreme conditions and further validated in various real-world scenarios.
