engleski

Compliant net for AUV retrieval using a UAV

This paper addresses the problem of retrieving an autonomous underwater vehicle (AUV) with an unmanned aerial vehicle (UAV). The design of the compliant net that naturally adapts to the payload morphology is proposed as a retrieval tool. We constructed the proposed compliant net and conducted experiments with an underwater vehicle model as payload. Furthermore, mathematical model of a system comprised of the UAV and the payload is presented and a mid- ranging controller is utilized for such a system. We also present simulation results and analyze the stability of the UAV with the cable attached payload.

Mechanical designUnmanned aerial vehiclesMarine systemsAutonomous underwater vehiclesSoft robotics

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