TY - GEN
T1 - Design, Modelling, Localization, and Control for Fire-Fighting Aerial Vehicles
AU - Chaikalis, Dimitris
AU - Evangeliou, Nikolaos
AU - Tzes, Anthony
AU - Khorrami, Farshad
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - A fire fighting aerial system is considered in this article. Such a system is comprised of a tethered hose, a high pressure water pump, and a multirotor aerial vehicle. In this paper, the overall dynamic model of this system is developed, taking into account the behavior of the hose and the recoil force of the exiting water-jet. The aerial vehicle is designed with vertical and lateral rotors, offering an additional actuation input to aid in compensation of the effects of the hose and the water-jet. A model-based controller is developed to guarantee stable flight of the aerial vehicle. A localization method is proposed, where the aerial vehicle's relative position with respect to its base is computed by including a force sensor on the vehicle and solving the inverse of the hose curvature equations. Simulations are used to investigate the effectiveness of the overall developed model, the controller efficiency, and the accuracy of the force-based localization method.
AB - A fire fighting aerial system is considered in this article. Such a system is comprised of a tethered hose, a high pressure water pump, and a multirotor aerial vehicle. In this paper, the overall dynamic model of this system is developed, taking into account the behavior of the hose and the recoil force of the exiting water-jet. The aerial vehicle is designed with vertical and lateral rotors, offering an additional actuation input to aid in compensation of the effects of the hose and the water-jet. A model-based controller is developed to guarantee stable flight of the aerial vehicle. A localization method is proposed, where the aerial vehicle's relative position with respect to its base is computed by including a force sensor on the vehicle and solving the inverse of the hose curvature equations. Simulations are used to investigate the effectiveness of the overall developed model, the controller efficiency, and the accuracy of the force-based localization method.
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U2 - 10.1109/MED54222.2022.9837053
DO - 10.1109/MED54222.2022.9837053
M3 - Conference contribution
AN - SCOPUS:85136243619
T3 - 2022 30th Mediterranean Conference on Control and Automation, MED 2022
SP - 432
EP - 437
BT - 2022 30th Mediterranean Conference on Control and Automation, MED 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 30th Mediterranean Conference on Control and Automation, MED 2022
Y2 - 28 June 2022 through 1 July 2022
ER -