Development of a Platform with 2 DoF to Assist the Cooperation Between Grounded Mobile Robots and UAVs in Landing Operations

Kaneda, Emerson Kazuyoshi; Berger, Guido; Pinto, Vítor H.; Pinto, Milena F.; Ferreira, Murilo; Rossini, Flávio Luiz; Lima, José

http://hdl.handle.net/10198/31141

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Autores

Kaneda, Emerson Kazuyoshi

Resumo(s)

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.

Palavras-chave

2 DoF Self-stabilizer P Controller IMU Sensor Exponential filter 2 DoF kinematics

URI

http://hdl.handle.net/10198/31141

Citação

Kaneda, Emerson Kazuyoshi; Berger, Guido; Pinto, Vitor Hugo; Pinto, Milena; Ferreira, Murilo; Rossini, Flávio Luiz; Lima, José (2024). Development of a Platform with 2 DoF to Assist the Cooperation Between Grounded Mobile Robots and UAVs in Landing Operations. In 7th Iberian Robotics Conference (ROBOT 2024). Madrid: IEEE, p. 1-6. ISBN 979-8-3503-7636-4.