Design, Integration and Sea Trials of 3D Printed Unmanned Aerial Vehicle and Unmanned Surface Vehicle for Cooperative Missions

英文摘要：

In recent years, Unmanned Surface Vehicles (USV) have been extensively deployed for maritime applications. However, USV has a limited detection range with sensor installed at the same elevation with the targets. In this research, we propose a cooperative Unmanned Aerial Vehicle - Unmanned Surface Vehicle (UAV-USV) platform to improve the detection range of USV. A floatable and waterproof UAV is designed and 3D printed, which allows it to land on the sea. A catamaran USV and landing platform are also developed. To land UAV on the USV precisely in various lighting conditions, IR beacon detector and IR beacon are implemented on the UAV and USV, respectively. Finally, a two-phase UAV precise landing method, USV control algorithm and USV path following algorithm are proposed and tested.