Robotics Commons^™

Exploiting The Advantages And Overcoming The Challenges Of The Cable In A Tethered Drone System, Rogerio Rodrigues Lima

Graduate Theses, Dissertations, and Problem Reports

This dissertation proposes solutions for motion planning, localization, and landing of tethered drones using only tether variables. A tether-based multi-model localization framework for tethered drones is proposed. This framework comprises three independent localization strategies based on a different model. The first strategy uses simple trigonometric relations assuming that the tether is taut; the second method relies on a set of catenary equations for the slack tether case; the third estimator is a neural network-based predictor that can cover different tether shapes. Multi-layer perceptron networks previously trained with a dataset comprised of the tether variables (i.e., length, tether angles on the …