Abstract
In many aerial robot applications such as search and rescue, the task consists on providing assistance in hostile environments such as mountains or civil areas after natural catastrophes. In this scenarios it is very likely that the terrain is not flat, making the landing and takeoff maneuvers of the aerial robot very complicate and unsafe. In contact-free conditions, the complexity of the task is increased by the underactuation of standard unidirectional-thrust aerial vehicle. In this chapter we shall show that the use of physical interaction, and in this case exploiting the tether, a unidirectional-thrust aerial vehicle can perform the task in a much robust and reliable way. In this chapter we will provide a formal study of the problem, proving the superiority of the tethered system. We shall then how how the results of Chap. 4 have been exploited to perform the task. A simple but effective trajectory generator is also derived for the particular task. Real experiments are presented validating the proposed method.
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Notes
- 1.
The equal interesting but unusual case of an arbitrary \(\mathcal {P}_{RL}\) is left as future work.
- 2.
In this chapter, since the length of the link is constant, l is not a generalized variable but becomes a parameter of the system.
- 3.
When \(\left\Vert {\mathbf {P}}^S_{xy}{\mathbf {z}}_W\right\Vert = 0\) the surface is horizontal and any \({\mathbf {d}}\) such that (6.9) holds, satisfies Condition (4). In this condition, one can still land with the tethered configuration keeping \({f_L}= 0\) and using the same method for contact-free flight.
- 4.
- 5.
The method can be easily modified according to any VTOL.
- 6.
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video 1: Takeoff and landing on slopes via inclined hovering with a tethered aerial robot. https://www.youtube.com/watch?v=01UYN289YXk (2016)
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Tognon, M., Franchi, A. (2021). Theory and Experiments for a Practical Usecase. In: Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers. Springer Tracts in Advanced Robotics, vol 140. Springer, Cham. https://doi.org/10.1007/978-3-030-48659-4_6
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DOI: https://doi.org/10.1007/978-3-030-48659-4_6
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