Compliant net for AUV retrieval using a UAV. Issue 29 (2018)

• Record Type: Journal Article
• Authors: Ivanovic, Antun; Polic, Marsela; Salah, Omar; Orsag, Matko; Bogdan, Stjepan
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 29(2018)
• Page Start: 431
• Page End: 437
• Publication Date: 2018
• Subjects: Mechanical design -- Unmanned aerial vehicles -- Marine systems -- Autonomous underwater vehicles -- Soft robotics; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.09.449
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper addresses the problem of retrieving an autonomous underwater vehicle (AUV) with an unmanned aerial vehicle (UAV). The design of the compliant net that naturally adapts to the payload morphology is proposed as a retrieval tool. We constructed the proposed compliant net and conducted experiments with an underwater vehicle model as payload. Furthermore, mathematical model of a system comprised of the UAV and the payload is presented and a mid-ranging controller is utilized for such a system. We also present simulation results and analyze the stability of the UAV with the cable attached payload.