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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

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 statě ve sborníku

21st International Conference on Informatics in Control, Automation and Robotics - Volume 1

ISBN

978-989-758-717-7

ISSN

2184-2809

e-ISSN

—

Počet stran výsledku

10

Strana od-do

545-554

Název nakladatele

Science and Technology Publications, Lda

Místo vydání

Setúbal

Místo konání akce

Porto

Datum konání akce

18. 11. 2024

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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