This paper introduces a new concept of recovering UAVs to their carrier using manipulator, aiming to better use the carrier’s carrying capability. The state-of-the-art of recycling UAVs are stated in the first place, the advantages and the setbacks of the current available recycling systems are introduced, and the reason for the setbacks are further analyzed before this new concept is introduced. To accomplish the basic recovering task, a minimum system configuration that can explain the idea is introduced and the model of the system is built based on several important assumptions. To further explain how the system works, a simulation based on the above configuration is given. The simulation result indicates that the system can fulfill the task of recovering the UAV, and the result also verified the efficiency of the new system, which implies its potential usefulness in the future application.
Multi-copter Manipulator UAV recovering
This is a preview of subscription content, log in to check access.
This work was partially supported by the National Natural Science Foundation of China (No. U1813216 and No. 61803221), the Science and Technology Research Foundation of Shenzhen (JCYJ20160301100921349 and JCYJ20170817152701660).
Daly, J.M., Yan, M., Waslander, S.L.: Coordinated landing of a quadrotor on a skid-steered ground vehicle in the presence of time delays. Auton. Robots 38(2), 179–191 (2015)CrossRefGoogle Scholar
Botao, H., Lu, L., Mishra, S.: Fast, safe and precise landing of a quadrotor on an oscillating platform. In: 2015 American Control Conference (ACC), pp. 3836–3841 (2015)Google Scholar
Tang, Z., et al.: Homing on a moving dock for a quadrotor vehicle. In: 2015 IEEE Region 10 Conference, TENCON 2015, pp. 1–6 (2015)Google Scholar
Zheng, D., Wang, H., Chen, W.: Image-based visual tracking of a moving target for a quadrotor. In: 2017 11th Asian Control Conference (ASCC), pp. 198–203 (2017)Google Scholar
Kim, J., et al.: Outdoor autonomous landing on a moving platform for quadrotors using an omnidirectional camera. In: 2014 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1243–1252 (2014)Google Scholar
Vlantis, P., et al.: Quadrotor landing on an inclined platform of a moving ground vehicle. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 2202–2207 (2015)Google Scholar
Benini, A., Rutherford, M.J., Valavanis, K.P.: Experimental evaluation of a real-time GPU-based pose estimation system for autonomous landing of rotary wings UAVs. Control Theory Technol. 16(2), 145–159 (2018)MathSciNetCrossRefGoogle Scholar
Jung, Y., Cho, S., Shim, D.H.: A trajectory-tracking controller design using L1 adaptive control for multi-rotor UAVs. In: 2015 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 132–138 (2015)Google Scholar
Chen, X., et al.: System integration of a vision-guided UAV for autonomous landing on moving platform. In: IEEE International Conference on Control and Automation, pp. 761–766 (2016)Google Scholar