@inproceedings{77ba255df0d4477e8a893883ab6f215f,
title = "A Tethered Aerial Recovery System for UAV Landing on USV",
abstract = "This paper presents a novel tethered recovery system designed for a UAV landing on a USV. The system comprises an aerial platform, a winch, and a tether connecting the two components. During the recovery process, the UAV initially docks and locks to the aerial platform. Subsequently, the winch recovers both the aerial platform and the UAV by retracting the tether. The advantage of this system is its ability to maintain stability for the aerial platform, even in the presence of significant disturbance experienced by the USV, thanks to the tether's capability to mitigate the impact between them. The paper elaborates on the design of a docking mechanism for the aerial platform and the UAV, and proposes a automatic docking controller based on cascaded PID, which achieves position calibration by outputing attitude angles to the flight control system(FCS). Finally, outdoor experiments were conducted to validate the system's feasibility for UAV recovery.",
keywords = "aerial platform, dock, recovery, tethered",
author = "Zhou Jianming and Jiang Kanyao and Chen Rui and Yang Yi and Li Kejia",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 9th International Conference on Automation, Control and Robotics Engineering, CACRE 2024 ; Conference date: 18-07-2024 Through 20-07-2024",
year = "2024",
doi = "10.1109/CACRE62362.2024.10635025",
language = "English",
series = "Proceedings - 2024 9th International Conference on Automation, Control and Robotics Engineering, CACRE 2024",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "321--328",
editor = "Fumin Zhang and Lichuan Zhang",
booktitle = "Proceedings - 2024 9th International Conference on Automation, Control and Robotics Engineering, CACRE 2024",
address = "United States",
}