Naslov
Unmanned marsupial sea-air system for object recovery

Autori
Mišković, Nikola ; Bogdan, Stjepan ; Nađ, Đula ; Mandić, Filip ; Orsag, Matko ; Haus, Tomislav

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 22nd Mediterranean Conference of Control and Automation (MED) / - : Institute of Electrical and Electronics Engineers (IEEE), 2014, 740-745

ISBN
978-1-4799-5900-6

Skup
Mediterranean Conference of Control and Automation (22 ; 2014)

Mjesto i datum
Palermo, Italija, 16.06.2014. - 19.06.2014

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
autonomous aerial vehicles ; autonomous marine vehicles ; cooperative heterogeneous system ; marsupial system

Sažetak
This paper presents preliminary results obtained from a cooperative heterogeneous system consisting of an unmanned surface marine vehicle (USV) and an unmanned aerial vehicle (UAV). The envisioned scenario for this marsupial system is unmanned recovery of objects floating at the sea surface. The specific mission that is addressed in this paper includes the following phases: coarse approach where the USV approaches the object area using navigation filter based on GPS measurements ; fine approach where the UAV tracking the USV sends relative distances between the USV and the object which is visible in the UAV's field of view ; and tugging where the USV takes the object to safety after the initial contact has been achieved. The paper describes the ROS-based control architecture, presents simulation results, and addresses control issues related to obtaining measurements from two sources with different variances.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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