scholarly journals The autonomous control of landing on mobile platforms

2021 ◽  
Vol 13 (3) ◽  
pp. 3-12
Author(s):  
Nicolae APOSTOLESCU ◽  
Ion TOMESCU ◽  
Dragos Daniel Ion GUTA ◽  
Radu BOGATEANU
Keyword(s):  
Autonomous Control ◽  
Mobile Platform ◽  
Client Application ◽  
Mobile Platforms ◽  
Landing Platform ◽  
Working Cell ◽  
Aerial Vehicle ◽  
Laboratory Group ◽  
To Receive ◽  
Production Cell

In this paper, we propose a simulation application that allows an aerial vehicle to land autonomously on a moving platform in the presence of uncertainties and disturbances. We have tested our method with various speeds and positions for the landing platform. In the context of this article, the autonomous control of landing on mobile platforms consists in synchronizing the movement of an aerial vehicle with the movement of the mobile platform. As a first step, the Spacelab INCAS laboratory group has developed an offline simulation application that allows an ABB robot to receive information on the movement of a Stewart-type mobile platform in order to conduct a landing process. The application can initiate a landing process on the mobile platform and guide the vehicle for perfect docking on the platform. Offline simulation allows the study of several scenarios of a robot working cell - the mobile platform before setting up the production cell. The offline application has a distributed client-server structure. The client communicates with the server through specific communication protocols. The client and server can reside on the same computer. The client application is developed in the Matlab environment and has as object the simulation and programming of the PS-6TL-1500 platform; the server one simulates and programs an ABB 7600-500/2.55 robot that moves on the track, in the RAPID language under RobotStudio ABB simulator.

Instant Center Based Kinematic Formulation for Planar Wheeled Platforms

2010 ◽  
Vol 2 (3) ◽  
Author(s):  
Amit Kulkarni ◽  
Delbert Tesar
Keyword(s):  
Rigid Body ◽  
Input Parameter ◽  
Radial Distance ◽  
Planar Motion ◽  
Mobile Platform ◽  
General Point ◽  
Kinematic Modeling ◽  
Mobile Platforms ◽  
General Order ◽  
Operational Criteria

For a general J wheeled mobile platform capable of up to three-degrees-of-freedom planar motion, there are up to two J independent input parameters yet the output of the platform is completely represented by three independent variables. This leads to an input parameter resolution problem based on operational criteria, which are in development just as they have been developed for n input manipulator systems. To resolve these inputs into a meaningful decision structure means that all motions at the wheel attachment points must have clear physical meaning. To this effect, we propose a methodology for kinematic modeling of multiwheeled mobile platforms using instant centers to efficiently describe the motion of all system points up to the nth order using a generalized algebraic formulation. This is achieved by using a series of instant centers (velocity, acceleration, jerk, and jerk derivative), where each point in the system has a motion property with its magnitude proportional to the radial distance of the point from the associated instant center and at a constant angle relative to that radius. The method of instant center provides a straightforward and physically intuitive way to synthesize a general order planar motion of mobile platforms. It is shown that a general order motion property of any point on a rigid body follows two properties, namely, directionality and proportionality, with respect to the corresponding instant center. The formulation presents a concise expression for a general order motion property of a general point on the rigid body with the magnitude and direction separated and identified. The results are summarized for up to the fifth order motion in the summary table. Based on the initial formulation, we propose the development of operational criteria using higher order properties to efficiently synthesize the motion of a J wheeled mobile platform.

scholarly journals Improvement in energy conversion for unmanned aerial vehicle charging pad

2020 ◽  
Vol 17 (2) ◽  
pp. 767
Author(s):  
M. R. AL-Obaidi ◽  
M. A. Mustafa ◽  
W.Z.W. Hassan ◽  
N. Azis ◽  
A. H. Sabry ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Design Methodology ◽  
Font Size ◽  
Contact Charging ◽  
Charging Station ◽  
Ground Station ◽  
Landing Platform ◽  
Aerial Vehicle ◽  
Fully Automatic ◽  
Software And Hardware

<span style="font-size: 9pt; font-family: 'Times New Roman', serif;">An efficient charging station is a necessity for Unmanned Aerial Vehicle (UAV) systems. However, if that implementation adds more complexity and onboard weight, then that exercise becomes a burden rather than a benefit since UAV's engineers aim to improve efficiency by reducing the energy consumed by the software and hardware of the complete aeronautical system. This article recommends a fully automatic contact charging station for UAVs, which can charge UAVs and thus resolve flight endurance restrictions of the UAV. The ground station consists of square copper plates that are positively and negatively polarized successively in a chessboard with particular sizes to guarantee electric contact at the landing. The design methodology used with the loading station takes into account the differences in UAV orientation once the platform has landed. In addition, this innovation uses independent charging after touchdown. Thus, this technology relaxes common flight times and help to enhance general mission times. This paper presents a unique charging platform in a “chessboard” configuration, which is devised as an interconnecting interface to facilitate the charging process and overcome inaccuracies with the landing. The solution devised in this research requires few components and presents two power source options (solar &amp; mains power). Additionally, this work presents, to the best of our knowledge, a uniquely innovative recharging landing platform, which incidentally requires no additional software or changes to the UAV’s onboard software settings</span><span style="font-size: 9pt; font-family: Arial, sans-serif;">.</span>

scholarly journals A Precise and GNSS-Free Landing System on Moving Platforms for Rotary-Wing UAVs

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 886 ◽  
Author(s):  
Francisco Alarcón ◽  
Manuel García ◽  
Ivan Maza ◽  
Antidio Viguria ◽  
Aníbal Ollero
Keyword(s):  
Relative Position ◽  
Unmanned Helicopter ◽  
Landing Position ◽  
Moving Platforms ◽  
Landing Platform ◽  
Aerial Vehicle ◽  
The Stability ◽  
Novel Concept ◽  
High Level ◽  
Rotary Wing

This article presents a precise landing system that allows rotary-wing UAVs to approach and land safely on moving platforms, without using GNSS at any stage of the landing maneuver, and with a centimeter level accuracy and high level of robustness. This system implements a novel concept where the relative position and velocity between the aerial vehicle and the landing platform are calculated from the angles of a cable that physically connects the UAV and the landing platform. The use of a cable also incorporates a number of extra benefits, such as increasing the precision in the control of the UAV altitude. It also facilitates centering the UAV right on top of the expected landing position, and increases the stability of the UAV just after contacting the landing platform. The system was implemented in an unmanned helicopter and many tests were carried out under different conditions for measuring the accuracy and the robustness of the proposed solution. Results show that the developed system allowed landing with centimeter accuracy by using only local sensors and that the helicopter could follow the landing platform in multiple trajectories at different velocities.

Vision-based pose estimation of a multi-rotor unmanned aerial vehicle

2019 ◽  
Vol 7 (3) ◽  
pp. 120-132
Author(s):  
Kashish Gupta ◽  
Bara Jamal Emran ◽  
Homayoun Najjaran
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Three Dimensional ◽  
Processing System ◽  
Training Procedure ◽  
Autonomous Landing ◽  
Content Type ◽  
Landing Platform ◽  
Aerial Vehicle ◽  
Autopilot Systems ◽  
Practical Implications

Purpose The purpose of this paper is to facilitate autonomous landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving/tilting platform using a robust vision-based approach. Design/methodology/approach Autonomous landing of a multi-rotor UAV on a moving or tilting platform of unknown orientation in a GPS-denied and vision-compromised environment presents a challenge to common autopilot systems. The paper proposes a robust visual data processing system based on targets’ Oriented FAST and Rotated BRIEF features to estimate the UAV’s three-dimensional pose in real time. Findings The system is able to visually locate and identify the unique landing platform based on a cooperative marker with an error rate of 1° or less for all roll, pitch and yaw angles. Practical implications The proposed vision-based system aims at on-board use and increased reliability without a significant change to the computational load of the UAV. Originality/value The simplicity of the training procedure gives the process the flexibility needed to use a marker of any unknown/irregular shape or dimension. The process can be easily tweaked to respond to different cooperative markers. The on-board computationally inexpensive process can be added to off-the-shelf autopilots.

Extended Modeling of Vertical Axis Motion Dynamics of VTOL Vehicle

2015 ◽  
Vol 789-790 ◽  
pp. 883-888 ◽  
Author(s):  
Wojciech Janusz ◽  
Roman Czyba ◽  
Grzegorz Szafrański ◽  
Michał Niezabitowski
Keyword(s):  
Vehicle Dynamics ◽  
High Performance ◽  
Vertical Axis ◽  
Open Loop ◽  
Indirect Measurements ◽  
Parameter Estimations ◽  
Landing Platform ◽  
Standard Configuration ◽  
Aerial Vehicle ◽  
Practical Model

Development of a reliable high-performance multirotor unmanned aerial vehicle (UAV) requires an accurate and practical model of the vehicle dynamics. This paper describes the process and results of the dynamic modeling of an unmanned aerial platform known as quadrotor. To model a vehicle dynamics, elementary physical and aerodynamical principles has been employed. Parameter estimations, from a UAV design have been obtained through direct and indirect measurements. In addition to standard configuration of VTOL (Vertical Take-Off and Landing) platform, the amortized landing gear, modeled as spring-damper system, has been added. The resulting model has been implemented in a simulation environment under MATLABs toolbox, SIMULINK. Some numerical results are presented to illustrate response of the open loop system to specific commands.

Mobile Computing: The Next Platform Rivalry

2014 ◽  
Vol 104 (5) ◽  
pp. 475-480 ◽  
Author(s):  
Timothy Bresnahan ◽  
Shane Greenstein
Keyword(s):  
Mobile Computing ◽  
Mobile Platform ◽  
Mobile Platforms ◽  
Platform Governance ◽  
Hierarchical Governance ◽  
The Way

Competition to become one of several dominant mobile platforms is intense. Platforms compete for developers, who create applications which make the platform valuable for users. Why doesn't one form of platform governance emerge as superior? This essay will stress the reasons for differentiation and proposes a new argument linked to a platform's “hierarchy.” Hierarchical governance features can help at one moment but then get in the way at a later time. These arguments are illustrated by different approaches to platform governance taken by the major mobile platform sponsors of recent years.

Mobile Platforms and Multi-Mobile Platform Development

2014 ◽  
Vol 21 (4) ◽  
pp. 529-552 ◽  
Author(s):  
Hassan Charaf ◽  
Péter Ekler ◽  
Tamás Mészáros ◽  
Imre Kelényi ◽  
Bence Kovari ◽  
...  
Keyword(s):  
Mobile Platform ◽  
Mobile Platforms ◽  
Platform Development
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