Model Predictive Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs

TL;DR

This paper presents a novel control framework for cable-driven balloon systems using UGVs, enabling precise loitering and trajectory tracking for reconnaissance applications like Mars crater exploration.

Contribution

It introduces a model predictive control approach and a coordinated servoing strategy for cable-driven balloons with suspended payloads, addressing key design and control challenges.

Findings

Effective loitering and trajectory tracking demonstrated

Enhanced control of tension forces in cable-driven balloons

Potential for improved reconnaissance in extraterrestrial environments

Abstract

The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have been evaluated before. Among all of these solutions, balloon-based systems possess merits that make them extremely attractive, e.g., a simple operation mechanism and endured operation time. However, there are many hurdles to overcome to achieve robust loitering performance in balloon-based applications. We attempt to identify design and control challenges, and propose a novel robotic platform that allows for the application of balloons in the reconnaissance and perception of Mars craters. This work briefly covers our suggested actuation and Model Predictive Control design framework for steering such balloon systems. We propose the coordinated servoing of multiple unmanned ground vehicles (UGVs) to regulate tension forces in a cable-driven balloon to which an underactuated hanging payload is attached.