Model predictive control-based trajectory generation for agile landing of unmanned aerial vehicle on a moving boat

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00378226" target="_blank" >RIV/68407700:21230/24:00378226 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.oceaneng.2024.119164" target="_blank" >https://doi.org/10.1016/j.oceaneng.2024.119164</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.oceaneng.2024.119164" target="_blank" >10.1016/j.oceaneng.2024.119164</a>

Result language

angličtina

Original language name

Model predictive control-based trajectory generation for agile landing of unmanned aerial vehicle on a moving boat

Original language description

This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)’s deck in harsh conditions. The trajectory generation exploits the state predictions of the USV to create periodically updated trajectories for a multirotor UAV to precisely land on the deck of a moving USV even in cases where the deck’s inclination is continuously changing. We use an MPC-based scheme to create trajectories that consider both the UAV dynamics and the predicted states of the USV up to the first derivative of position and orientation. Compared to existing approaches, our method dynamically modifies the penalization matrices to precisely follow the corresponding states with respect to the flight phase. Especially during the landing maneuver, the UAV synchronizes attitude with the USV’s, allowing for fast landing on a tilted deck. Simulations show the method’s reliability in various sea conditions up to Rough sea (wave height 4m), outperforming state-of-the-art methods in landing speed and accuracy, with twice the precision on average. Finally, real-world experiments validate the simulation results, demonstrating robust landings on a moving USV, while all computations are performed in real-time onboard the UAV.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/GM23-06162M" target="_blank" >GM23-06162M: TOPFLIGHT: Trajectory and Mission Planning for Agile Flight of Aerial Robots in Cluttered Environments</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2024

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Ocean Engineering

ISSN

0029-8018

e-ISSN

1873-5258

Volume of the periodical

313

Issue of the periodical within the volume

December

Country of publishing house

GB - UNITED KINGDOM

Number of pages

15

Pages from-to

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UT code for WoS article

001338936100001

EID of the result in the Scopus database

2-s2.0-85206537200