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dc.contributor.authorGryte, Kristoffer
dc.contributor.authorSollie, Martin Lysvand
dc.contributor.authorJohansen, Tor Arne
dc.date.accessioned2022-09-26T06:20:05Z
dc.date.available2022-09-26T06:20:05Z
dc.date.created2021-12-17T15:01:48Z
dc.date.issued2021
dc.identifier.issn0921-0296
dc.identifier.urihttps://hdl.handle.net/11250/3021128
dc.description.abstractAutomatic recovery is an important step in enabling fully autonomous missions using fixed-wing unmanned aerial vehicles (UAVs) operating from ships or other moving platforms. However, automatic recovery in moving arrest systems is only briefly studied in the research literature, and is not yet an option when using low-cost, commercial off-the-shelf (COTS) autopilots. Acknowledging the reliability and low cost of COTS avionics, this paper adds recovery functionality as a modular extension based on non-intrusive additions to an autopilot with very general assumptions on its interface. This is achieved by line-of-sight guidance, which sends an augmented desired position to the autopilot, to ensure line-following along a virtual runway that guides the UAV into the arrest system. The translation and rotation of this line is determined by the pose of the arrest system, determined using two Global Navigation Satellite System (GNSS) receivers, where one is configured as a Real-Time Kinematic (RTK) base station. The relative position of the UAV and arrest system is also precisely estimated using RTK GNSS. Through extensive field testing, on two different fixed-wing UAVs, the system has shown its performance and reliability; 43 recovery attempts in a stationary net hit 0.01 ± 0.25m to the right and 0.07 ± 0.20m below the target in calm conditions. Further, 15 recoveries in a barge-mounted, ship-towed net hit 0.06 ± 0.53m to the right and 0.98 ± 0.27m below the target in winds up to 4 m/s. The remaining error is largely systematic, caused by communication delays, and could be reduced with more integral effect or through direct compensation.en_US
dc.language.isoengen_US
dc.publisherSpringeren_US
dc.relation.urihttps://link.springer.com/content/pdf/10.1007/s10846-021-01521-z.pdf
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.titleControl System Architecture for Automatic Recovery of Fixed-Wing Unmanned Aerial Vehicles in a Moving Arrest Systemen_US
dc.typeJournal articleen_US
dc.typePeer revieweden_US
dc.description.versionpublishedVersionen_US
dc.source.volume103en_US
dc.source.journalJournal of Intelligent and Robotic Systemsen_US
dc.source.issue73en_US
dc.identifier.doi10.1007/s10846-021-01521-z
dc.identifier.cristin1970022
dc.relation.projectNorges forskningsråd: 223254en_US
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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