论文标题
由操纵器辅助多个无人机登陆系统，可为USV带来干扰
A Manipulator-Assisted Multiple UAV Landing System for USV Subject to Disturbance
论文作者
论文摘要
海浪显着干扰无人的地表车辆（USV）运动。无人驾驶飞机（UAV）几乎无法降落在经历不规则运动的USV上。通常需要一个超大的着陆平台来保证着陆安全，这限制了可以携带的无人机数量。我们提出了一个由系绳和机器人操纵协助的着陆系统。该系统可以在不增加USV的尺寸的情况下登陆多个无人机。 MPC控制器稳定了终端效应器并跟踪无人机，并且自适应估计器解决了基本运动引起的干扰。系统的工作策略旨在计划每个设备的运动。我们已经通过模拟和良好控制的室内实验验证了操纵器控制器。在现场测试中，当干扰的USV滚动范围约为12度时，提出的系统捕获并放置了无人机。
Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the landing safety, which limits the number of UAVs that can be carried. We propose a landing system assisted by tether and robot manipulation. The system can land multiple UAVs without increasing the USV's size. An MPC controller stabilizes the end-effector and tracks the UAVs, and an adaptive estimator addresses the disturbance caused by the base motion. The working strategy of the system is designed to plan the motion of each device. We have validated the manipulator controller through simulations and well-controlled indoor experiments. During the field tests, the proposed system caught and placed the UAVs when the disturbed USV roll range was approximately 12 degrees.
