Development of a Platform with 2 DoF to Assist the Cooperation Between Grounded Mobile Robots and UAVs in Landing Operations
Year: 2024
Type: conference-paper
Abstract: This paper presents the design and implementation of a two degrees of freedom (2 DoF) self-stabilizer platform based on a bidirectional type, intended to integrate with mobile robots to assist unmanned aerial vehicle (UAV) land operations in irregular grounds with a focus on outdoor environments operations. A study on the kinematics behavior of the bidirectional platform is addressed to improve decisions about the structure. Mind in the hardware and software implementation, the combination of step motors and IMU sensors provides the system with position control, how the step motor actuates over position with an integer number of steps, and a P controller generates an interesting response. This setup enabled the platform to stabilize in grounds with at least positive and negative 15 degrees of slope and maintain stability for UAVs under several operational conditions.
Authors: Emerson Kazuyoshi Kaneda, Guido Berger, Vitor Hugo Pinto, Milena Pinto, Murilo Ferreira, Flávio Luiz Rossini, José Lima
Institutions: Universidade Politécnica de Bragança, Research Centre in Digitalization and Intelligent Robotics, Universidade do Porto, Centro de Investigação em Sistemas e Tecnologias, Federal Center for Technological Education Celso Suckow da Fonseca, Federal Center for Technological Education of Minas Gerais, Universidade Tecnológica Federal do Paraná
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4405709939