Keipour Azarakhsh, Pereira Guilherme A S, Bonatti Rogerio, Garg Rohit, Rastogi Puru, Dubey Geetesh, Scherer Sebastian
Robotics AI, Amazon, Arlington, VA 22202, USA.
Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26506, USA.
Sensors (Basel). 2022 Aug 30;22(17):6549. doi: 10.3390/s22176549.
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing controller approaches the ground vehicle using velocity commands calculated directly in image space. The control laws generate velocity commands in all three dimensions, eliminating the need for a separate height controller. The method has shown the ability to approach and land on the moving deck in simulation, indoor and outdoor environments, and compared to the other available methods, it has provided the fastest landing approach. Unlike many existing methods for landing on fast-moving platforms, this method does not rely on additional external setups, such as RTK, motion capture system, ground station, offboard processing, or communication with the vehicle, and it requires only the minimal set of hardware and localization sensors. The videos and source codes are also provided.
许多空中机器人应用需要具备在移动平台上降落的能力，比如送货车和海洋研究船。我们提出了一种让无人机自主降落在移动车辆上的方法。视觉伺服控制器利用直接在图像空间中计算出的速度指令接近地面车辆。控制律在所有三个维度上生成速度指令，无需单独的高度控制器。该方法已在模拟、室内和室外环境中展示了接近并降落在移动甲板上的能力，并且与其他可用方法相比，它提供了最快的着陆方式。与许多现有的在快速移动平台上降落的方法不同，此方法不依赖额外的外部设置，如RTK、运动捕捉系统、地面站、外部处理或与车辆的通信，并且只需要最少的硬件和定位传感器。同时还提供了视频和源代码。
