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Aerial Docking (Control Developments (Software (Companion computers…
Aerial Docking
Docking Direction
Vertical
Downwash effect
Need accurate relative altitude
Use laser finder
Communication between mothership and child drones
Can be fixed by hold landing pad high enough
Moment Effect
Weight Increase
Control Difficulties
Fit for putting landing pads on top of mother
Weight Increase
Horizontal
Smaller size and weight
Control more challenging
Need accurate positional info
Control Developments
Software
Companion computers
Dronekit (Python)
Easy to program
Code inheriting from GDP
Slower
ROS (C++)
Faster
Full support for PX4 stack
Many examples
Pixhawk (Arducopter/PX4 stack)
Precision landing features
Visual-Aided Navigation
OpenCV
Full version/Streamlined Version
Kalman Filter
Computation Extensive
Need to modify the source code
Require deep understanding of code
Might develop unseen bugs
Simulation Environments
Gazebo + ROS
Many examples projects
Hardware
Camera
Logitech C920
More examples
More weight
cost more
OCam
Weigh less
Smaller
Pixhawk+Odroid
Powerful CPU
More expensive
More wired connections
Navio2
Less computational capabilities
Not fully support some sensors
Less weight
Indoor testings
Need optical flows + laser finder
More expensive
Connections children and mother
Integrated into locking mechanism
More reliable
Only activate when dockings occur
Save power
Weight Increase
Wireless
Serial (Xbee)
Via companion computers
Wifi
Structure Design
Child Drones
Buy a whole kit
Quick Development
Existing APIs to use
Less room to develop?
Less expensive?
Self-design
CAD/Solidworks skills
Take time to learn
Mothership
Landing markings
Size >> Child drones (avoid downwash)
Self-design
CAD/Solidworks skills
Structural Analysis
Docking Mechanism
Self-Manufacture
Magnet
Disturbances to electronic devices
Mechanical
Commercial Connectors
Push-lock-push-open connectors
UK-based brands