让无人机在摇晃的船上稳定着陆，靠的是可伸缩的螺旋吸附装置。
A Lightweight Toggleable Adhesion Prototype for Multirotor UAV Landing on Tilting Platforms
- 用电机驱动螺旋结构抓附钩环表面，实现着陆时自动吸附
- 在43度倾斜下着陆成功率从40%提升至80%
- 适合海上无人船协同任务，尤其适用于小型无人机
自主多旋翼无人机在无人水面舰艇（USVs）上的着陆对持续海上作业至关重要，但受海浪引起的倾斜、风扰及有限着陆区域影响，仍具挑战性。现有方法普遍存在姿态容差小的问题。本文提出一种轻量化可切换吸附机构，通过电机驱动的螺旋结构与着陆面的钩环材料啮合，实现着陆时主动吸附、起飞时可控释放。我们基于改装的Crazyflie 2.0无人机和自研倾斜平台，在代表极端波浪条件的固定倾角下评估原型系统。仅使用简单的垂直方向PID控制器，所提方法在最大43度倾角下将着陆成功率从基准的平均40%提升至80%，效果依赖于合适的驱动参数设置。
原文摘要 · Abstract (English)
Autonomous multirotor landings on uncrewed surface vessels (USVs) are critical for persistent maritime operations but remain challenging due to wave-induced tilt, wind disturbances, and limited landing area. Many existing approaches exhibit small pose tolerance for reliable landing. This paper presents a lightweight toggleable adhesion mechanism to improve landing reliability. The system uses a motor-driven corkscrew that engages hook-and-loop material on the landing surface, enabling active adhesion during landing and controlled release during takeoff. We evaluate a prototype using a modified Crazyflie 2.0 and a custom tilting platform at fixed angles representative of extreme wave conditions. Using only a simple vertical PID controller, the proposed approach increases landing success from an average of 40% (baseline) to 80% across platform tilts up to 43 degrees using appropriately selected actuation settings.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。