In this paper we face the challenging problem of takeoff and landing on sloped surfaces for a VTOL aerial vehicle. We define the general conditions for a safe and robust maneuver and we analyze and compare two classes of methods to fulfill these conditions: free-flight vs. passivelytethered. Focusing on the less studied tethered method, we show its advantages w.r.t. the free-flight method thanks to the possibility of inclined hovering equilibria. We prove that the tether configuration and the inclination of the aerial vehicle w.r.t. the slope are flat outputs of the system and we design a hierarchical nonlinear controller based on this property. We then show how this controller can be used to land and takeoff in a robust way without the need of either a planner or a perfect tracking. The validity and applicability of the method in the real world is shown by experiments with a quadrotor that is able to perform a safe landing and takeoff on a sloped surface.

Takeoff and landing on slopes via inclined hovering with a tethered aerial robot

Testa A.;
2016

Abstract

In this paper we face the challenging problem of takeoff and landing on sloped surfaces for a VTOL aerial vehicle. We define the general conditions for a safe and robust maneuver and we analyze and compare two classes of methods to fulfill these conditions: free-flight vs. passivelytethered. Focusing on the less studied tethered method, we show its advantages w.r.t. the free-flight method thanks to the possibility of inclined hovering equilibria. We prove that the tether configuration and the inclination of the aerial vehicle w.r.t. the slope are flat outputs of the system and we design a hierarchical nonlinear controller based on this property. We then show how this controller can be used to land and takeoff in a robust way without the need of either a planner or a perfect tracking. The validity and applicability of the method in the real world is shown by experiments with a quadrotor that is able to perform a safe landing and takeoff on a sloped surface.
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
1702
1707
Tognon M.; Testa A.; Rossi E.; Franchi A.
File in questo prodotto:
File Dimensione Formato  
IROS16_IRIS.pdf

accesso aperto

Tipo: Postprint
Licenza: Licenza per accesso libero gratuito
Dimensione 1.05 MB
Formato Adobe PDF
1.05 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/743986
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 16
  • ???jsp.display-item.citation.isi??? 10
social impact