Kotarski, Denis (Karlovac University of Applied Sciences), Šćuric, Alen (University of Zagreb), Piljek, Petar (University of Zagreb), Petrovic, Tamara (University of Zagreb)

Design and Prototyping of a Ground-Aerial Robotic System

Scheduled for presentation during the Regular Session "Multirotor Design and Control II" (FrB5), Friday, June 9, 2023, 14:20−14:40, Room 466

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This paper presents an investigation into the feasibility of using a ground-aerial robotic system for data collection missions. It outlines the design of a system consisting of a tracked unmanned ground vehicle (UGV) and a multirotor unmanned aerial vehicle (UAV). The UGV is designed to enable the possibility of changing and charging batteries for the UAV, which is equipped with sensors for precise landing on the UGV platform. Rapid prototyping technologies were used to create a small experimental aircraft with a simple battery change airframe that can be tested indoors or outdoors. Parts of the chassis and drive elements were designed and manufactured for the UGV platform, and then the drive assembly and testing were carried out. The control systems of the UAV and UGV robots were evaluated through preliminary experiments. In future work, the integration of the control system and prototyping of the mechanism and electronics of the module for charging and changing batteries are planned in order to facilitate further advancements in the field of data collection missions.