Aerial Rendezvous of Small Unmanned Aircraft Using a Passive Towed Cable System

被引:35
作者
Nichols, Joseph W. [1 ]
Sun, Liang [1 ]
Beard, Randal W. [1 ]
McLain, Timothy [1 ]
机构
[1] Brigham Young Univ, Provo, UT 84602 USA
基金
美国国家科学基金会;
关键词
MICRO AIR VEHICLES; VISUAL TRACKING; RECOVERY; DYNAMICS; TARGET; FLIGHT; WIND;
D O I
10.2514/1.62220
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
A method for aerial rendezvous of small unmanned aircraft systems is proposed. The system includes placing a passively towed drogue into an orbit that is suitable for a small unmanned aircraft systems to follow, and a seeker guidance method for use with a monocular camera mounted on the centerline of the unmanned aircraft systems. The principle contributions of the work include a method for controlling the drogue path in moderate winds by manipulating the mothership orbit and airspeed, and a vision-based nonlinear pursuit tracking method that uses pitch rate and roll commands to guide the unmanned aircraft systems to an aerial rendezvous with the drogue. Simulation and flight-test results are presented to demonstrate the suitability of these methods.
引用
收藏
页码:1131 / 1142
页数:12
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