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A Novel Cooperative Platform Design for Coupled USV–UAV Systems

机译：USV–UAV耦合系统的新型协作平台设计

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摘要

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.
机译：本文提出了一种新型的协作式无人水面无人飞行器（USV-UAV）平台，以形成强大的组合，这为耦合的USV-UAV系统执行协作任务提供了基础。 USV的可调浮标和独特的承运人甲板旨在确保无人机的着陆安全和运输。 USV甲板上装有一系列传感器，并引入了多超声联合动态定位算法来解决USV-UAV耦合系统的定位问题。为了实现对无人机着陆操作的有效指导，我们设计了一种分层的着陆指导点生成算法，以获得一系列的指导点。通过采用上述顺序指导点，可以为无人机计划高质量的航路。阐明了USV-UAV系统的协同动态定位过程，从而使无人机能够稳定地降落在USV甲板上。我们的合作式USV-UAV平台已通过仿真和水上实验验证。

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