Design And Control Of An Air-surface Cooperation Oriented Auto Take-off And Land System

The wield mobile robots have achieve great process in recent years.Presented by unmanned aerial vehicle(UAV),unmanned surface vehicle(USV)and unmanned ground vehicle(UGV),the behavioral plan ability of mobile robots is becoming better and better.The main problem that the mobile robots faced today is the deficiency of environment perception ability.Small UAV has been wildly used,because of its little size,moving fast,the convenience to carry and the ability to observe a wide angle of view.It also has some significant defects,like its poor endurance(usually 20 minutes),low accuracy of environment perception,not able to acquire accurate local information of environment.The USV has a considerable equipment load,long endurance,and the ability to mount multiple sensors to acquire precise local environment information.Thus we come up with the aerial-surface system,which is mainly used to combine the broad view and maneuverability of UAV with precise perception and long endurance of USV.Thus,the autonomous behavior performance of the whole system can be improved significantly.As the UAV is asked to take off and land for many times,the importance of the autonomous takeoff and land system is obvious in the whole system.Only if the UAV can complete the takeoff and land process,the following environment perception,cooperation will come to a reality.This paper designed a set of solution aiming at solving the problems in the process of autonomous takeoff and land,such as location of the UAV,communication of UAV and USV,tracking,control strategy of autonomous takeoff and land.This paper contains the following four parts:(1)The UAV localizes its position using the differential GPS,at the same time,Kalm Filter was introduced to combine the data of gyroscope,accelerometer,electronic compass.Thus,the UAV can receive a high precision and frequency of location.Also,the quaternion is introduced to calculate the attitude of UAV.The PID controller is used as the position controller.(2)Accomplish the communication protocol between the UAV and USV,including the command from the USV to the UAV,the position and attitude exchange between them.(3)We complete an auxiliary mechanism to assist the UAV to take off and land on the USV.This mechanism is composed of two “harpoon” which are installedon the undercarriage of the UAV.The “harpoon” can be passively anchored in the platform.It is simply and reliable for the UAV to take off and land for multiple times.(4)We also designed a tracking algorism to follow the USV,and complete part function of cooperation.