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Dynamic trajectory for landing an aerial vehicle on a mobile platform.

Abstract : In the presented work, a trajectory is designed allowing an Unmanned Aerial Vehicle (UAV) to perform landing on a mobile platform. The proposed trajectory behaves in such a way that grants a seamless integration of information about the target landing platform into its design. This allows any generic tracking controller to follow the trajectory regardless of the target's dynamics or movement, as they are indirectly applied to the trajectory's architecture. The focus of this work is for fixed-wing aircraft to land on water surface vehicles but can be adjusted for different scenarios. One of which is used for the experimental corroboration of the proposed strategy in a real-world environment.
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https://hal-cnrs.archives-ouvertes.fr/hal-03844508
Contributor : Pedro Castillo Garcia Connect in order to contact the contributor
Submitted on : Monday, November 21, 2022 - 2:09:21 PM
Last modification on : Tuesday, November 29, 2022 - 7:04:59 AM

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A. Alatorre, J. Cariño, Pedro Castillo Garcia, Rogelio Lozano. Dynamic trajectory for landing an aerial vehicle on a mobile platform.. 11th IFAC Symposium on Intelligent Autonomous Vehicles (IAV22), Aug 2022, Prague, Czech Republic. pp.145-150, ⟨10.1016/j.ifacol.2022.07.597⟩. ⟨hal-03844508⟩

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