Investigation and Simulation of an Actual System for Aerial Retrievals of Low-Speed Falling Objects
Fumiaki HIRAHARA, Mizuki HIRAI, Susumu HARA, Naoki Akai · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2022
In a previous study, mid-air retrieval with fixed-wing UAVs to a low-speed falling object was considered, and the approach trajectory generation using USFC (updating final-state control) was proposed. However, the effect of the delay on the control law has not been investigated for the real system. In particular, unlike the feedback attitude control by PID control using IMU, the trajectory generation using GNSS system is expected to have relatively large delay due to sensing and control calculation. In this study, a control law that allows for the delay caused by those processes was designed. Moreover, the effectiveness of the designed control law was confirmed under some conditions by simulation. In addition, based on the simulation results, an experimental system capable of parallel processing was constructed to realize the control by UFSC.