Xiang Huang, Xu Gu, Biao Du, and Danjiang Huo
Tie cable, catenary, Newton iteration method, critical coefficient, length
Aiming at the application of tethered unmanned aerial vehicle (UAV) in complex scenes, to ensure the flight safety of UAV and ensure that the tethered cable will not be damaged by obstacles in the environment, a calculation method for the releasing length of tethered cable bypassing obstacles is proposed. Firstly, the tethered cable is regarded as a catenary curve for force analysis. Secondly, according to the obstacle position and UAV target position in the application scenario, the catenary coefficient is calculated using the Newton iteration method, and the critical catenary coefficient is determined in the case of obstacles. By comparing the catenary coefficients, the line types and release length of the tethered cable are determined. Finally, the experimental verification proves that the calculation method of the release length of the tethered cable proposed in this paper can ensure that the UAV can reach the designated position and avoid obstacles in the application environment. This method not only favors the tethered UAV to complete the established tasks but also reduces the possibility of tethered cables being damaged in complex environments, which is more in line with the actual needs of tethered UAV applications.
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