NDLI: Landing and Perching on Vertical Surfaces with Microspines for Small Unmanned Air Vehicles

Content Provider	Springer Nature Link
Author	Lussier Desbiens, Alexis Cutkosky, Mark R.
Copyright Year	2009
Abstract	We present the first results of a system that allows small fixed-wing UAVs to land and cling on surfaces such as brick walls using arrays of microspines that engage asperities on the surface. The requirements of engaging and loading the spines lead to an approach in which an open-loop pitch-up motion is triggered by a range sensor as the plane nears the wall. The subsequent dynamics result in a period during which the plane stays within an envelope of acceptable orientation and velocity (pitch from 60–105 deg, vertical velocity from 0 to − 2.7 m/s and up to 3 m/s of horizontal velocity) that permit successful perching. At touchdown, a non-linear suspension absorbs the remaining kinetic energy to minimize peak forces, prevents bouncing and facilitates spine engagement. The total maneuver duration is less than 1 s. We describe the spine suspension and its analysis and present results of typical perching maneuvers (10 landings under autonomous control and 20 under manual control). Under calm conditions, the success rate for autonomous perching on building walls is approximately 80%, the failures being attributed to erroneous wall detection. We conclude with a discussion of future work to increase the robustness of the approach (e.g. with wind) and allow subsequent take-offs to resume flight.
Starting Page	313
Ending Page	327
Page Count	15
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	57
Issue Number	1-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2009-10-22
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Perching Landing Vertical surfaces Wall Microspines Adhesion Suspension Unmanned air vehicles Endurance Mechanical Engineering Artificial Intelligence (incl. Robotics) Electrical Engineering Control , Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Battery State-Of-Charge Based Altitude Controller for Small, Low Cost Multirotor Unmanned Aerial Vehicles

Visual Based Landing for an Unmanned Quadrotor

Vision-Based Landing of Light Weight Unmanned Helicopters on a Smart Landing Platform

Autonomous Shipboard Landing Algorithm for Unmanned Helicopters in Crosswind

Development of Wall Climbing Robot System by Using Impeller Type Adhesion Mechanism

Multi-UAV Simulator Utilizing X-Plane

Towards Autonomous Autorotation Landing for Small Size Unmanned Helicopters

Controlled Emergency Landing of an Unpowered Unmanned Aerial System

Fuzzy Logic Based Approach to Design of Autonomous Landing System for Unmanned Aerial Vehicles

Landing and Perching on Vertical Surfaces with Microspines for Small Unmanned Air Vehicles

Similar Documents

Battery State-Of-Charge Based Altitude Controller for Small, Low Cost Multirotor Unmanned Aerial Vehicles

Visual Based Landing for an Unmanned Quadrotor

Vision-Based Landing of Light Weight Unmanned Helicopters on a Smart Landing Platform

Autonomous Shipboard Landing Algorithm for Unmanned Helicopters in Crosswind

Development of Wall Climbing Robot System by Using Impeller Type Adhesion Mechanism

Multi-UAV Simulator Utilizing X-Plane

Towards Autonomous Autorotation Landing for Small Size Unmanned Helicopters

Controlled Emergency Landing of an Unpowered Unmanned Aerial System

Fuzzy Logic Based Approach to Design of Autonomous Landing System for Unmanned Aerial Vehicles

Landing and Perching on Vertical Surfaces with Microspines for Small Unmanned Air Vehicles