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Landing of a Fixed-wing UAV on a Mobile Ground Vehicle

Muskardin, Tin and Balmer, Georg Robert and Wlach, Sven and Kondak, Konstantin and Laiacker, Maximilian and Ollero, Anibal (2016) Landing of a Fixed-wing UAV on a Mobile Ground Vehicle. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation 2016, 16.-21. Mai 2016, Stockholm, Schweden.

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Official URL: http://www.icra2016.org/


The development of solar-powered high-altitude UAV has gained increasing attention in the recent years. Several aircraft have had successful flights in the stratosphere, but despite advances in lightweight design they can only carry small payloads compared to the total takeoff mass. This paper suggests to eliminate the need for a landing gear by landing on a mobile ground vehicle. This would not only increase the payload capacity, but also simplify landings in crosswind conditions and thus increase the operational availability. A system with a small UAV and a car-mounted landing platform is prepared as a technology demonstrator. Different aspects of the landing problem are studied in simulations and real experiments and algorithms for the cooperative control of both vehicles are proposed. Simulations as well as experiments with the real car and a simulated UAV show the feasibility of such landings.

Item URL in elib:https://elib.dlr.de/104737/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Landing of a Fixed-wing UAV on a Mobile Ground Vehicle
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Muskardin, TinTin.Muskardin (at) dlr.deUNSPECIFIED
Balmer, Georg RobertGeorg.Balmer (at) dlr.deUNSPECIFIED
Wlach, Svensven.wlach (at) dlr.deUNSPECIFIED
Kondak, Konstantinkonstantin.kondak (at) dlr.deUNSPECIFIED
Laiacker, Maximilianmaximilian.laiacker (at) dlr.deUNSPECIFIED
Ollero, Anibalaollero (at) us.esUNSPECIFIED
Date:May 2016
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Aerial Robotics, UAV, Cooperative Control, Multi Robot Systems, Automatic Landing System, Ground based Landing Gear, Solar high altitude UAV, HALE UAV
Event Title:IEEE International Conference on Robotics and Automation 2016
Event Location:Stockholm, Schweden
Event Type:international Conference
Event Dates:16.-21. Mai 2016
Organizer:IEEE Robotics & Automation Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Muskardin, Tin
Deposited On:18 Jul 2016 14:11
Last Modified:09 Feb 2017 19:22

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