Autonomous Aerial Vehicle Carrier and MAV Collaboration: System Design, Trajectory Optimization, and Real-World Implementation
Jinliang Shao, Hailong Huang∗
AI summary
Problem
Micro Aerial Vehicles (MAVs) suffer from limited operational range due to size and weight constraints, while existing carrier-collaboration systems rely on external motion capture or restrictive assumptions that hinder real-world deployment.
Approach
The authors designed a fully autonomous AVC-MAV prototype and developed a Sequential Convex Programming (SCP) trajectory optimization algorithm that dynamically allocates safe flight corridors and time meshes for reliable MAV launch and recovery without GPS.
Key results
- First fully autonomous AVC-MAV prototype eliminating motion capture and GPS dependence
- SCP-based trajectory optimizer with adaptive time meshing for safe corridor navigation
- Successful indoor and outdoor field tests demonstrating system robustness
- Identification of beneficial aerodynamic interactions aiding MAV takeoff and deck securing
Why it matters
Advances practical low-altitude economy applications by enabling extended-range, autonomous aerial missions in complex or GPS-denied environments.
Abstract
The rapid growth of the low-altitude economy has spotlighted the utility of Micro Aerial Vehicles (MAVs) in various applications. However, the limited operational range of MAVs due to their size and weight constraints poses significant challenges. This paper investigates the concept of the Aerial Vehicle Carrier (AVC), a larger vehicle designed to enhance the mission radius of MAVs by transporting them to designated task areas. The synergy between the maneuverable MAVs and the enduring AVC creates a collaborative system that effectively overcomes individual limitations and significantly boosts oper- ational efficiency in practical applications. A novel trajectory optimization algorithm has also been developed for the AVC collaboration. This study highlights the development and real- world deployment of a fully autonomous AVC collaboration system prototype, representing a significant leap over previous experimental setups. This paper details the deployment of the AVC system in real-world environments, demonstrating its effectiveness and robustness for AVC-MAV collaboration.