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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >Autonomous Recovery of a Fixed-Wing UAV Using a Line Suspended Between Two Multirotor UAVs
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Autonomous Recovery of a Fixed-Wing UAV Using a Line Suspended Between Two Multirotor UAVs

机译：使用悬挂在两个多电机UAV之间的线路自动恢复固定翼UAV

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摘要

This article presents an autonomous recovery system for fixed wing unmanned aerial vehicles (UAVs) which is using a line suspended between two multirotor UAVs to catch a line with a hook hanging from a fixed-wing UAV. This method of recovery is particularly suitable for recovery in space constrained areas such as on small ships. A control system is presented for the proposed recovery concept and the concept is validated through experiments. The results include 17 test runs to characterize control accuracy, followed by three successful recoveries. With the selected equipment and tuning values, the multirotors were able to track the fixed-wing UAV with a mean error of 0.8 m at the moment the catch would have happened in the 17 test runs. The margins for missing for the three recoveries were 1.0-2.1 m showing that this recovery method is robust.
机译：本文介绍了一种用于固定机翼无人机（无人机）的自主恢复系统，该系统正在使用两个多电泳无人机之间的线悬挂在两个多电脑UAV之间，以捕获从固定翼UAV悬挂的挂钩。这种回收方法特别适用于在空间受限区域中的恢复，例如小船。提出了一个控制系统，用于提出的恢复概念，并且通过实验验证该概念。结果包括17个测试，以表征控制精度，其次是三个成功的恢复。通过所选设备和调谐值，多电泵能够跟踪固定翼UAV在捕获的瞬间发生在17个测试运行中的平均误差0.8米。缺少三个恢复的边距为1.0-2.1米，表明这种恢复方法是强大的。

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