Abstract
The location, velocity, and flight path angle of an autonomous unmanned aerial vehicle (UAV) landing on a moving vessel are key factors for an optimal landing trajectory. To tackle this challenge, this paper proposes a method for calculating the optimal approach landing trajectory between an UAV and a small vessel. A numerical approach (iterative method) is used to calculate the optimal approach landing trajectory, and the initial lead is introduced in the calculation process of the UAV trajectory for the inclination and heading angle for accuracy improvement, so that the UAV can track and calculate the optimal landing trajectory with high precision. Compared with the variational method, the proposed method can calculate an optimal turning direction angle for the UAV during the landing. Simulation experiments verify the effectiveness of the proposed algorithm and give optimal initialization values.
Highlights
Large-scale and fast-speed marine vessels are widely used in numerous operations and missions
Advanced Research Projects Agency (DARPA) [17], with the current research proposing a method for calculating the optimal approach landing trajectory between the unmanned aerial vehicle (UAV) and the small vessel
At of the approach maneuver), the UAV is at thepoint A0, with the time t = 0 (starting coordinates xA0 yA0 zA0, speed VA (t), and speed direction expressed as φA0 γA0 θA0
Summary
Large-scale and fast-speed marine vessels are widely used in numerous operations and missions. When the flight procedure is executed, depending on the result of the current monitoring information, the change in the weather condition or the movement path of the carrier, the UAV movement set by the flight task can be significantly changed according to commands from the control panel In this regard, it is necessary to control the possibility of the drone returning to the vessel carrier during the flight. Advanced Research Projects Agency (DARPA) [17], with the current research proposing a method for calculating the optimal approach landing trajectory between the UAV and the small vessel In this project, the possibility of a UAV return in any moment of the mission flight was analyzed. The proposed landing trajectory planning for fixed-wing UAVs can ensure for a safe and efficient UAV recovery task
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