Abstract
AbstractThis paper describes the conceptual design of a vertical takeoff and landing unmanned aerial vehicle (VTOL-UAV), mountable on an unmanned ground vehicle (UGV) for their combined operation as a team. The design aims to compensate for the weak points of each platform by providing carrying, launching, recovery, and recharging capabilities for the mounted VTOL-UAV through the host UGV. A sphere-shaped mechanical docking interface between the UAV–UGV is proposed to allow flexible and accurate positioning, and its operational concept with a coaxial rotorcraft UAV is suggested as one particular instance. A vision-based, target-tracking method to enhance the precision landing performance also was investigated and tested with a ground-based experimental setup.
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