151. Takeoff and Landing on Slopes via Inclined Hovering with a Tethered Aerial Robot
- Author
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Antonio Franchi, Enrica Rossi, Andrea Testa, Marco Tognon, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Università del Salento [Lecce], Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Tognon M., Testa A., Rossi E., and Franchi A.
- Subjects
0209 industrial biotechnology ,Engineering ,Property (programming) ,business.industry ,020209 energy ,02 engineering and technology ,Takeoff and landing ,Vehicle dynamics ,Mathematical model, Robots, Vehicle dynamics ,020901 industrial engineering & automation ,Robustness (computer science) ,Control theory ,Face (geometry) ,11. Sustainability ,0202 electrical engineering, electronic engineering, information engineering ,[INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY] ,Robot ,[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] ,Takeoff ,business ,Simulation - Abstract
International audience; In this paper we face the challenging problem of takeoff and landing on sloped surfaces for a VTOL aerial vehicle. We define the general conditions for a safe and robust maneuver and we analyze and compare two classes of methods to fulfill these conditions: free-flight vs. passively-tethered. Focusing on the less studied tethered method, we show its advantages w.r.t. the free-flight method thanks to the possibility of inclined hovering equilibria. We prove that the tether configuration and the inclination of the aerial vehicle w.r.t. the slope are flat outputs of the system and we design a hierarchical nonlinear controller based on this property. We then show how this controller can be used to land and takeoff in a robust way without the need of either a planner or a perfect tracking. The validity and applicability of the method in the real world is shown by experiments with a quadrotor that is able to perform a safe landing and takeoff on a sloped surface.
- Published
- 2016