Journal
ROBOTICA
Volume 41, Issue 4, Pages 1127-1144Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574722001552
Keywords
UAV; landing; contact-based; mobile; platform
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This paper proposes a novel concept of contact-based landing on a mobile platform and designs an adaptive backstepping controller. Flight experiments and simulated scenarios are conducted to evaluate the feasibility of the proposed landing scheme and control strategy. Furthermore, vision-based recognition and localization methods are studied to enhance system autonomy.
A novel concept-the contact-based landing on a mobile platform-is proposed in this paper. An adaptive backstepping controller is designed to deal with the unknown disturbances in the interactive process, and the contact-based landing mission is implemented under the hybrid force/motion control framework. A rotorcraft aerial vehicle system and a ground mobile platform are designed to conduct flight experiments, evaluating the feasibility of the proposed landing scheme and control strategy. To the best of our knowledge, this is the first time a rotorcraft unmanned aerial vehicle has been implemented to conduct a contact-based landing. To improve system autonomy in future applications, vision-based recognition and localization methods are studied, contributing to the detection of a partially occluded cooperative object or at a close range. The proposed recognition algorithms are tested on a ground platform and evaluated in several simulated scenarios, indicating the algorithm's effectiveness.
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