A Novel Cooperative Platform Design for Coupled USV-UAV Systems

This paper presents a novel cooperative unmanned surface vehicle-unmanned aerial vehicle (USV-UAV) platform to form a powerful combination, which offers foundations for collaborative task executed by the coupled USV-UAV systems. Adjustable buoys and unique carrier deck for the USV are designed to gu...

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Bibliographic Details
Published in:IEEE transactions on industrial informatics 2019-09, Vol.15 (9), p.4913-4922
Main Authors: Shao, Guangming, Ma, Yong, Malekian, Reza, Yan, Xinping, Li, Zhixiong
Format: Article
Language:English
Subjects:
Algorithms
Buoys
Computer Science
Computer simulation
Cooperative positioning
Flight decks
Heuristic algorithms
Hierarchical landing guide point generation algorithm
Landing
Multi-ultrasonic joint dynamic positioning algorithm
multiultrasonic joint dynamic positioning algorithm
Navigation
Networking and Internet Architecture
Safety
Sensor systems
Surface vehicles
System effectiveness
Systems architecture
Task analysis
Unmanned aerial vehicles
Unmanned vehicles
USV-UAV platform
Vehicle dynamics
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Summary:This paper presents a novel cooperative unmanned surface vehicle-unmanned aerial vehicle (USV-UAV) platform to form a powerful combination, which offers foundations for collaborative task executed by the coupled USV-UAV systems. Adjustable buoys and unique carrier deck for the USV are designed to guarantee landing safety and transportation of UAV. The deck of USV is equipped with a series of sensors, and a multiultrasonic joint dynamic positioning algorithm is introduced for resolving the positioning problem of the coupled USV-UAV systems. To fulfill effective guidance for the landing operation of UAV, we design a hierarchical landing guide point generation algorithm to obtain a sequence of guide points. By employing the above sequential guide points, high-quality paths are planned for the UAV. Cooperative dynamic positioning process of the USV-UAV systems is elucidated, and then UAV can achieve landing on the deck of USV steadily. Our cooperative USV-UAV platform is validated by simulation and water experiments.
ISSN:1551-3203
1941-0050
1941-0050
DOI:10.1109/TII.2019.2912024