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A Novel Landing System to Increase Payload Capacity and Operational Availability of High Altitude Long Endurance UAVs
KTH, School of Electrical Engineering (EES), Automatic Control.
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2017 (English)In: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409, Vol. 88, no 2-4, p. 597-618Article in journal (Refereed) Published
Abstract [en]

Unmanned stratospheric aircraft capable of staying aloft for long periods of time have become a topic of interest in the past years. Several problems are still to be solved to allow for a profitable commercial use of such aircraft. The inherent lightweight design leads to fragile structures with low payload capacities and a high wind sensitivity. The weather dependence significantly reduces the system's operational availability. To address these drawbacks a novel landing system is proposed in this paper. The landing gear can be removed from the aircraft and a ground-based mobile landing platform is introduced. The main technical challenges consist in the precise relative state estimation and cooperative control of the involved vehicles. A reliable simulation model of the overall system was developed and a number of simulation experiments performed before the actual landing was attempted with an experimental system setup. Multiple successful landing experiments demonstrate the validity of the proposed system.

Place, publisher, year, edition, pages
SPRINGER , 2017. Vol. 88, no 2-4, p. 597-618
Keywords [en]
Aerial robotics, Cooperative control, UAV, UAS, Multi-robot systems
National Category
Embedded Systems
Identifiers
URN: urn:nbn:se:kth:diva-217015DOI: 10.1007/s10846-017-0475-zISI: 000412972000023Scopus ID: 2-s2.0-85010755566OAI: oai:DiVA.org:kth-217015DiVA, id: diva2:1154155
Note

QC 20171101

Available from: 2017-11-01 Created: 2017-11-01 Last updated: 2017-11-01Bibliographically approved

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Persson, Linnea

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Citation style
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  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf