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Marine UAV-USV Marsupial Platform: System and Recovery Technic Verification
Zhang HD(张宏达)1,2,3; He YQ(何玉庆)1,2; Li DC(李德才)1,2; Gu F(谷丰)1,2; Li Q(李琦)1,2; Zhang MX(张洺溪)1,2; Di CL(狄春雷)1,2; Chu LL(禇玲玲)1,2,3; Chen B(陈博)1,2,3; Hu YM(胡艳明)1,2,3
Department机器人学研究室
Source PublicationAPPLIED SCIENCES-BASEL
ISSN2076-3417
2020
Volume10Issue:5Pages:25
Indexed BySCI
WOS IDWOS:000525298100031
Contribution Rank1
Funding OrganizationNSFC-Liaoning Joint Fund of China [U1608253] ; National Key R&D Program of China [2018YFC0810100] ; State Key Laboratory of Robotics of China [2017-Z17]
KeywordUAV-USV marsupial platform UAV recovery heterogeneous unmanned systems motion model motion estimation dynamic analysis compliance control
Abstract

Heterogeneous unmanned systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) have great application potential in marine environments. At present, the fully autonomous recovery of UAVs is a key problem that restricts any significant application of a heterogeneous unmanned system. This paper presents a novel fully autonomous recovery system, covering the entire process of recovery of small fixed-wing UAVs on mobile platforms at sea. We describe methods or solutions for the key problems encountered by the current system, including active modeling of the UAV-USV heterogeneous platform motion model, accurate estimation of the highly dynamic relative motion of the heterogeneous platform, dynamic analysis of the arresting cable system, and compliance control of the manipulator recovery system. Based on these methods, a physical simulation platform for the fully autonomous recovery system, including an actively adjustable arresting cable, manipulator compliance recovery system, and other subsystems, is developed and verified through experiments. The experiments show that the system proposed in this study can achieve full autonomous recovery of a small ship-based fixed-wing UAV with a high success rate in a short period. This system is the foundation for practical applications of UAV-USV heterogeneous unmanned systems in the marine environment.

Language英语
WOS SubjectChemistry, Multidisciplinary ; Engineering, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied
WOS KeywordNETWORK ; AIR
WOS Research AreaChemistry ; Engineering ; Materials Science ; Physics
Funding ProjectNSFC-Liaoning Joint Fund of China[U1608253] ; National Key R&D Program of China[2018YFC0810100] ; State Key Laboratory of Robotics of China[2017-Z17]
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26665
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Zhang HD,He YQ,Li DC,et al. Marine UAV-USV Marsupial Platform: System and Recovery Technic Verification[J]. APPLIED SCIENCES-BASEL,2020,10(5):25.
APA Zhang HD.,He YQ.,Li DC.,Gu F.,Li Q.,...&Hu YM.(2020).Marine UAV-USV Marsupial Platform: System and Recovery Technic Verification.APPLIED SCIENCES-BASEL,10(5),25.
MLA Zhang HD,et al."Marine UAV-USV Marsupial Platform: System and Recovery Technic Verification".APPLIED SCIENCES-BASEL 10.5(2020):25.
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