Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00378293" target="_blank" >RIV/68407700:21230/24:00378293 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.5220/0012910000003822" target="_blank" >https://doi.org/10.5220/0012910000003822</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.5220/0012910000003822" target="_blank" >10.5220/0012910000003822</a>

Result language
angličtina
Original language name
Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves
Original language description
This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characterized by large waves. This onboard UAV system aims to enhance collaboration with USVs for following and landing tasks under such challenging conditions. The main contribution of our system is the novel mathematical USV model, describing the movement of the USV in 6 degrees of freedom on a wavy water surface, which is used to estimate and predict USV states. The estimator fuses data from multiple global and onboard sensors, ensuring accurate USV state estimation. The predictor computes future USV states using the novel mathematical USV model and the last estimated states. The estimated and predicted USV states are forwarded into a trajectory planner that generates a UAV trajectory for following the USV or landing on its deck, even in harsh environmental conditions. The proposed approach was verified in numerou s simulations and deployed to the real world, where the UAV was able to follow the USV and land on its deck repeatedly.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
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

Article name in the collection
21st International Conference on Informatics in Control, Automation and Robotics - Volume 1
ISBN
978-989-758-717-7
ISSN
2184-2809
e-ISSN
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Number of pages
10
Pages from-to
545-554
Publisher name
Science and Technology Publications, Lda
Place of publication
Setúbal
Event location
Porto
Event date
Nov 18, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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