Real-Time Trajectory Planning for UAVs Perching on the Time-Varying Attitude Moving Platform
Xin Dong, Zhan Tu, Daochun Li, Jinwu Xiang · 2024
In the context of aerial-ground cooperation systems, the need for energy replenishment on mobile platforms arises due to UAVs’ limited endurance. However, the actual challenges in UAV landing in complex terrains is the time-varying attitudes of the mobile platform. Current studies primarily assume flat or sloping surfaces, neglecting the problem of time-varying flatness for UAV perching on intricate terrains. Addressing this gap, we proposed real-time trajectory planning method considers the changing attitude of the ground platform, ensuring consistent UAV attitude during landing and maintaining uniform terminal angular velocities to prevent collisions.