Smooth Autonomous Take-off and Landing Maneuvers over a Double-hulled Watercraft

Omar Velasco, Pablo J. Alhama Blanco, João Valente

Abstract

This paper addresses the problem of vertical take-off and landing (VTOL) over a moving target in an inland water environment. The maneuvers are carried out by a multi-rotor unmanned aerial system (UAS) over a double-hulled watercraft unmanned surface vehicle (USV). The approach proposed employs a cascade PID control architecture and is then improved with Dynamic Movement Primitives (DMP). The results presented show that DMP can be used in combination with PID classical control for achieving a more safe and accurate VTOL maneuver.

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Paper Citation


in Harvard Style

Velasco O., Alhama Blanco P. and Valente J. (2017). Smooth Autonomous Take-off and Landing Maneuvers over a Double-hulled Watercraft . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 389-396. DOI: 10.5220/0006435303890396


in Bibtex Style

@conference{icinco17,
author={Omar Velasco and Pablo J. Alhama Blanco and João Valente},
title={Smooth Autonomous Take-off and Landing Maneuvers over a Double-hulled Watercraft},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={389-396},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006435303890396},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Smooth Autonomous Take-off and Landing Maneuvers over a Double-hulled Watercraft
SN - 978-989-758-264-6
AU - Velasco O.
AU - Alhama Blanco P.
AU - Valente J.
PY - 2017
SP - 389
EP - 396
DO - 10.5220/0006435303890396