Parakh M Gupta presents Landing a UAV in harsh winds and turbulent open
On 2023-05-16 11:00:00 at E112, Karlovo náměstí 13, Praha 2
Landing an unmanned aerial vehicle (UAV) on top of an unmanned surface vehicle
(USV) in harsh open waters is a challenging problem, owing to forces that can
damage the UAV due to a severe roll and/or pitch angle of the USV during
touchdown. To tackle this, we propose a novel model predictive control (MPC)
approach enabling a UAV to land autonomously on a USV in these harsh
conditions.
The MPC employs a novel objective function and an online decomposition of the
oscillatory motion of the vessel to predict, attempt, and accomplish the
landing during near-zero tilt of the landing platform. The nonlinear prediction
of the motion of the vessel is performed using visual data from an onboard
camera.
Therefore, the system does not require any communication with the USV or a
control station. The proposed method was analyzed in numerous robotics
simulations in harsh and extreme conditions and further validated in various
real-world scenarios.
(USV) in harsh open waters is a challenging problem, owing to forces that can
damage the UAV due to a severe roll and/or pitch angle of the USV during
touchdown. To tackle this, we propose a novel model predictive control (MPC)
approach enabling a UAV to land autonomously on a USV in these harsh
conditions.
The MPC employs a novel objective function and an online decomposition of the
oscillatory motion of the vessel to predict, attempt, and accomplish the
landing during near-zero tilt of the landing platform. The nonlinear prediction
of the motion of the vessel is performed using visual data from an onboard
camera.
Therefore, the system does not require any communication with the USV or a
control station. The proposed method was analyzed in numerous robotics
simulations in harsh and extreme conditions and further validated in various
real-world scenarios.