傾斜プラットフォームへのマルチロータUAV着陸のための軽量トグル式接着プロトタイプ
A Lightweight Toggleable Adhesion Prototype for Multirotor UAV Landing on Tilting Platforms
波による傾斜や風の影響を受ける船舶への着陸成功率を高めるため、モーター駆動のコルクスクリューで面ファスナーに接着する軽量な着脱可能な接着機構を提案し、実験で成功率を40%から80%に向上させた。
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著者: Teighin Nordholt, Melissa Greeff
分類: cs.RO
原文アブストラクト
Autonomous multirotor landings on uncrewed surface vessels (USVs) are critical for persistent maritime operations but remain challenging due to wave-induced tilt, wind disturbances, and limited landing area. Many existing approaches exhibit small pose tolerance for reliable landing. This paper presents a lightweight toggleable adhesion mechanism to improve landing reliability. The system uses a motor-driven corkscrew that engages hook-and-loop material on the landing surface, enabling active adhesion during landing and controlled release during takeoff. We evaluate a prototype using a modified Crazyflie 2.0 and a custom tilting platform at fixed angles representative of extreme wave conditions. Using only a simple vertical PID controller, the proposed approach increases landing success from an average of 40% (baseline) to 80% across platform tilts up to 43 degrees using appropriately selected actuation settings.
