Unmanned aerial vehicle launch and recovery
Unmanned aerial vehicle (UAV) launch and recovery is disclosed. A disclosed example apparatus for recovering a UAV includes a base to be mounted to a recovery vehicle, a flexible arm extending from the base to pivot therefrom, the arm having a first end at the base and a second end opposite the first end, the arm to move to counteract a movement of the recovery vehicle, and a coupler mounted on or proximate the second end of the arm, the coupler to be releasably coupled to the UAV.
1. An apparatus for recovering an aerial vehicle (AV), the apparatus comprising:
a base to be mounted to a recovery vehicle;
a flexible arm extending from the base to pivot therefrom, the arm having a first end at the base and a second end opposite the first end, the arm to move to counteract a movement of the recovery vehicle;
a coupler mounted on or proximate the second end of the arm, the coupler to be releasably coupled to the AV;
a sensor to measure a movement of the AV; and
an actuator operatively coupled to the arm, the actuator to control a sway of the arm based on the movement of the AV.
2. The apparatus as defined in claim 1 , further including a second sensor to measure the movement of the recovery vehicle.
3. The apparatus as defined in claim 2 , wherein the actuator is to control movement of the arm further based on the measured movement of the recovery vehicle.
4. The apparatus as defined in claim 3 , further including:
at least one memory;
instructions; and
processor circuitry to execute the instructions to:
calculate a counteracting movement of the arm based on the measured movement, wherein the actuator to move the arm is controlled further based on the counteracting movement.
5. The apparatus as defined in claim 1 , wherein the arm is telescoping such that the arm can expand and contract longitudinally.
6. The apparatus as defined in claim 5 , wherein the coupler includes a magnet, and wherein the arm is to be expanded longitudinally to bring the magnet in proximity of the AV to attract the AV.
7. The apparatus as defined in claim 1 , wherein the coupler includes a lock to secure the coupler to the AV, the lock to push the AV away during launch of the AV.
8. The apparatus as defined in claim 1 , wherein the AV is a vertical takeoff and landing (VTOL) aircraft or a short takeoff and landing (STOL) aircraft.
9. The apparatus as defined in claim 1 , wherein the sway of the arm corresponds to an elastic flexure of the arm.
10. A method of recovering an aerial vehicle (AV), the method comprising:
moving, in response to a movement of a recovery vehicle, an arm that pivots from a base of the recovery vehicle to counteract the movement of the recovery vehicle, the arm having a distal end supporting a first coupler;
extending the arm toward the AV as the AV hovers to bring the first coupler in proximity of a second coupler carried by the AV, the first coupler to be coupled to the second coupler to couple the AV to the arm;
measuring, with a sensor, the movement of the AV; and
controlling, based on movement of the AV, a sway of the arm via an actuator operatively coupled to the arm.
11. The method as defined in claim 10 , further including measuring, with a second sensor, the movement of the recovery vehicle.
12. The method as defined in claim 11 , further including calculating, by executing instructions with at least one processor, a counteracting movement of the arm based on the measured movement of the recovery vehicle.
13. The method as defined in claim 12 , wherein the actuator operatively coupled to the arm is controlled further based on the counteracting movement.
14. The method as defined in claim 13 , wherein the counteracting movement of the arm is at least partially based on wind conditions proximate the AV.
15. The method as defined in claim 11 , wherein the recovery vehicle is a marine vessel, and wherein measuring the movement of the recovery vehicle includes measuring a movement of fluid on which the marine vessel floats.
16. A non-transitory computer readable medium comprising instructions, which when executed, cause processor circuitry to:
determine a movement of a recovery vehicle carrying an arm for recovery of an aerial vehicle (AV), the arm to pivot relative to the recovery vehicle;
determine a movement of the AV;
calculate a counteracting movement of the arm based on the determined movement of the recovery vehicle and the determined movement of the AV; and
direct an actuator to control a sway of the arm based on the counteracting movement to bring a first coupler of the arm to a second coupler of the AV to capture the AV.
17. The non-transitory computer readable medium as defined in claim 16 , wherein the movement of the recovery vehicle is determined based on output from a sensor of the recovery vehicle.
18. The non-transitory computer readable medium as defined in claim 16 , wherein the recovery vehicle is a marine vessel, and wherein the determination of the movement of the recovery vehicle is at least partially based on measuring a movement of fluid on which the marine vessel floats.
19. The non-transitory computer readable medium as defined in claim 16 , wherein the actuator is controlled at least partially based on a wind condition proximate the AV.
20. The non-transitory computer readable medium as defined in claim 19 , wherein the calculation of the counteracting movement of the arm is at least partially based on the wind condition.
21. The non-transitory computer readable medium as defined in claim 16 , wherein the instructions further cause the processor circuitry to direct the AV to hover proximate the first coupler of the arm.