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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GM23-06162M" target="_blank" >GM23-06162M: TOPFLIGHT: Plánování trajektorií a misí agilních vzdušných robotů v prostředí s překážkami</a><br>

Návaznosti

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

Rok uplatnění

2024

Kód důvěrnosti údajů

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

Název periodika

Ocean Engineering

ISSN

0029-8018

e-ISSN

1873-5258

Svazek periodika

313

Číslo periodika v rámci svazku

December

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

15

Strana od-do

—

Kód UT WoS článku

001338936100001

EID výsledku v databázi Scopus

2-s2.0-85206537200