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Tether-guided landing of unmanned helicopters without GPS sensors

Sandino, Luis and Santamaría, Daniel and Bejar, Manuel and Viguria, Antidio and Kondak, Konstantin and Ollero, Anibal (2014) Tether-guided landing of unmanned helicopters without GPS sensors. In: IEEE International Conference on Robotics and Automation (ISSN: 1042-296X). IEEE. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China. doi: 10.1109/ICRA.2014.6907304. ISSN 1042-296X.

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Abstract

Landing of unmanned helicopters is a challenging maneuver which can be seriously affected by GPS sensor reliability. This work explores an alternative approach to GPS sensors to avoide typical drawbacks, such as inaccuracies of standalone sensors or weight/cost for RTK setups. To this end, the paper studies a setup consisting of a tether linking the helicopter to the landing point. Appropriate sensing of tether attitude relative to the helicopter together with an altitude measurement, allows estimation of the helicopter’s linear position relative to the landing point. Additionally, the tension exerted on the tether provides a stabilizing effect on helicopter translational dynamics. Taking into account all these considerations, a model-based control strategy is developed and implemented in the real platform. The experimental results endorse the validity of the proposed approach

Item URL in elib:https://elib.dlr.de/94514/
Document Type:Conference or Workshop Item (Speech)
Title:Tether-guided landing of unmanned helicopters without GPS sensors
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sandino, LuisUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Santamaría, DanielUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bejar, ManuelUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Viguria, AntidioUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Kondak, KonstantinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ollero, AnibalUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:June 2014
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI:10.1109/ICRA.2014.6907304
Publisher:IEEE
ISSN:1042-296X
Status:Published
Keywords:UAV, autonomous helicopter, control, landing, GPS, tether
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Hong Kong, China
Event Type:international Conference
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Kondak, Konstantin
Deposited On:12 Jan 2015 18:18
Last Modified:27 Jul 2023 08:09

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