Abstract
A hybrid power system (HPS) is developed for the photovoltaic (PV) powered and tethered multirotor unmanned aerial vehicle (UAV) based on the robot operating system (ROS) and verified using an indoor hardware-in-the-loop (HIL) test. All the processes, including a UAV flight mode change (i.e., takeoff, hovering, and landing) and power flow control (consisting of PV modules, a LiPo battery pack, and a UAV) are completely automated using a combination of Pixhawk 2.1 and the Raspberry Pi 3 Model B (RPi 3B). Once the indoor HIL test starts, (1) the UAV takes off and hovers with a preassigned 10 m altitude at a fixed point and keeps hovering until the voltage drops below 13.4 V ; (2) the UAV lands when the voltage drops below 13.4 V, and the hybrid power controller (HPC) starts to charge the LiPo battery pack using the energy from PV modules; and (3) the UAV takes off when the voltage of the battery pack becomes more than 16.8 V, and the procedure repeats from (1). A PV-powered and tethered multirotor UAV using the proposed HPS can fly more safely for a longer time, particularly in an urban area, and so it is competitive to the traditional multirotor type UAV in the sense of both the flight time and the surveillance mission performance.