基于复合地标导航的动平台四旋翼飞行器自主优化降落技术

doi:10.7527/S1000-6893.2018.22601

Abstract

Abstract: To address visual loss, big dead zone, and low landing reliability in marker-based localization, a moving platform landing system based on hybrid landmark is proposed. The circular ring tag and two-dimensional tag are combined together to provide precise localization of camera in large space. An estimator based on extended Kalman filter is proposed to estimate the pose of moving platform online. Meanwhile, the unknown measurement bias of encoder is considered in the system model to improve the robustness of estimator under wheel-clip and reduce the calibration error from encoders. Finally, based on the statement estimation, an optimal landing strategy is designed using the minimum Jerk trajectory, and the efficient and stable landing of the quadrotor on the moving platform is realized. To verify the effectiveness of the proposed landing system, several simulation and actual landing experiments are given. The experimental results show that the hybrid landmark has small dead zone and realizes the complete and comprehensive localization from 0.5 m to 6.0 m, the estimator can obtain accurate pose of the moving platform under the unknown measurement bias of encoder, and the proposed optimal landing strategy can realize reliable landing on the moving platform.

Key words: quadrotor, visual landing, trajectory planning, moving platform, state estimation

CLC Number:

V19
TP242.6

XING Boyang, PAN Feng, WANG Wei, FENG Xiaoxue. Moving platform self-optimization landing technology for quadrotor based on hybrid landmark[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(6): 322601-322601.

References

[1] 徐贵力, 程月华, 沈春林. 基于激光扫描和计算机视觉的无人机全天侯自主着陆导引技术[J]. 航空学报, 2004, 25(5):499-503. XU G L, CHENG Y H, SHEN C L. Unmanned air vehicle's navigation and automatic accurate landing in all weather based on infrared laser scan and computer vision[J]. Acta Aeronautica et Astronautica Sinica, 2004, 25(5):499-503.
[2] FORSTER C, PIZZOLI M, SCARAMUZZA D. SVO:Fast semi-direct monocular visual odometer[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ:IEEE Press, 2014:15-22(in Chinese).
[3] 张广军, 周富强. 基于双圆特征的无人机着陆位置姿态视觉测量方法[J]. 航空学报, 2005, 26(3):344-348. ZHANG G J, ZHOU F Q. Position and orientation estimation method for landing of unmanned aerial vehicle with two circle based computer vision[J]. Acta Aeronautica et Astronautica Sinica, 2005, 26(3):344-348(in Chinese).
[4] YANG S, SCHERER S A, ZELL A. An on-board monocular vision system for autonomous takeoff, hovering and landing of a micro aerial vehicle[J]. Journal of Intelligent & Robotic Systems, 2013, 69(1-4):499-515.
[5] 张咪, 赵勇, 布树辉. 等. 基于阶层标识的无人机自主精准降落系统[J]. 航空学报, 2018, 39(10):213-221. ZHANG M, ZHAO Y, BU S H, et al. Multilevel marker based autonomous landing system for UAVs[J]. Acta Aeronautica et Astronautica Sinica, 2018, 39(10):213-221(in Chinese).
[6] BI Y, DUAN H. Implementation of autonomous visual tracking and landing for a low-cost quadrotor[J]. Optik-International Journal for Light and Electron Optics, 2013, 124(18):3296-3300.
[7] BENAVIDEZ P, LAMBERT J, JAIMES A, et al. Landing of an ardrone 2.0 quadcopter on a mobile base using fuzzy logic[C]//World Automation Congress. Piscataway, NJ:IEEE Press, 2014:803-812.
[8] KYRISTSIS S, ANTONOPOULOS A, CHANIALAKIS T, et al. Towards autonomous modular UAV missions:The detection, geo-location and landing paradigm[J]. Sensors, 2016, 16(11):1844.
[9] ACUNA R, WILLERT V. Dynamic markers:UAV landing proof of concept[C]//2018 Latin American Robotic Symposium, 2018:496-502.
[10] LARSEN T D, HANSEN K L, ANDERSEN N A, et al. Design of Kalman filters for mobile robots; evaluation of the kinematic and odometric approach[C]//International Conference on Control Applications. Piscataway, NJ:IEEE Press, 1999:1021-1026.
[11] FALANGA D, ZANCHETTIN A, SIMOVIC A, et al. Vision-based autonomous quadrotor landing on a moving platform[C]//International Symposium on Safety, Security and Rescue Robotics. Piscataway, NJ:IEEE Press, 2017.
[12] BONATO V, MARQUES E, CONSTANTINIDES G. A floating-point extended Kalman filter implementation for autonomous mobile robots[C]//2007 International Conference on Field Programmable Logic and Applications, 2007:576-579.
[13] WANG X, LU G, SHI Z, et al. Robust LQR controller for landing unmanned helicopters on a slope[C]//Chinese Control Conference, 2016:10639-10644.
[14] MUELLER M W, HEHN M, D'ANDREA R A. Computationally efficient motion primitive for quadrocopter trajectory generation[J]. IEEE Transactions on Robotics, 2017, 31(6):1294-1310.
[15] RICHTER C, BRY A, ROY N. Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments[M]. Robotics Research. Benin:Springer International Publishing, 2016:649-666.
[16] ROTH D B G. Adaptive thresholding using the integral image[J]. Journal of Graphics Gpu & Game Tools, 2007, 12(2):13-21.
[17] LEPETIT V, MORENO-NOGUER F, FUA P. EPnP:An accurate O(n) solution to the PnP problem[J]. International Journal of Computer Vision, 2009, 81(2):155-166.
[18] GONALVES J, LIMA J, COSTA P. Real time tracking of an omnidirectional robot-an extended Kalman filter approach[C]//Proceedings of the Fifth International Conference on Informatics in Control, 2015:5-10.
[19] LYNEN S, ACHTELIK M W, WEISS S, et al. A robust and modular multi-sensor fusion approach applied to MAV navigation[C]//International Conference on Intelligent Robots and Systems. Piscataway, NJ:IEEE Press, 2013, 3923-3929.
[20] OLEYNIKOVA H, BURRI M, TAYLOR Z, et al. Continuous-time trajectory optimization for online UAV re-planning[C]//International Conference on Intelligent Robots and Systems. Piscataway, NJ:IEEE Press, 2016.
[21] XING B Y, ZHU Q, PAN F, et al. Marker-based multi-sensor fusion indoor localization system for micro air vehicles[J]. Sensors, 2018, 18(6):1706.

Moving platform self-optimization landing technology for quadrotor based on hybrid landmark

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Zhe LIU, Xige ZHANG, Changzhu WEI, Naigang CUI. High-precision adaptive convex programming for reentry trajectories of suborbital vehicles [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729430-729430.
[2]	Hongzhen GUO, Mou CHEN, Yongdong DAI, Maofei WANG. Distributed adaptive event⁃triggered formation control for QUAVs [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729917-729917.
[3]	Yuemeng MA, Ming LIU, Ding YANG, Ming YANG, Mingang ZHANG, Yajie GE. Prescribed performance and anti⁃noise control of near space vehicle with thermal constraint [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729390-729390.
[4]	Zhenwei WANG, Kai LIU, Jian GUO, Xiaopeng LIU. A multi⁃UAVs and multi⁃USVs formation cooperative mechanism based on leader⁃follower strategy [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729791-729791.
[5]	Yi WANG, Hui YE, Xiaofei YANG. A position control and obstacle avoidance method for quadrotor via approach based on passivity and artificial potential filed [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S1): 727492-727492.
[6]	Chenyang LIU, Dawei WU, Yize GUO, Xinsai LV, Jiani ZHOU, Shuyi SHAO. Robust adaptive attitude control of quadrotor with uncertain strong coupling [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S1): 727645-727645.
[7]	Xu ZHAO, Guoyuan QI, Xinchen YU, Jianbing HU, Xia LI. Compensation function observer and its application in flight vehicle attitude control [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(9): 327224-327224.
[8]	Yongzhi SHENG, Jiahao GAN, Chengxin ZHANG. Fractional order sliding mode guidance law design with trajectory adjustable and terminal angular constraint [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(7): 327073-327073.
[9]	Gang LEI, Wei LUO, Yunshu LI, Canhui LAI. Optimization of reentry maneuver trajectory for hypersonic glide vehicles in multiple no-fly zones [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(15): 528769-528769.
[10]	Qilei GUO, Weimin SANG, Junjie NIU, Ye YUAN. UAV flight strategy considering icing risk under complex meteorological conditions [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(1): 627518-627518.
[11]	YANG Mingyue, SHOU Yingxin, TANG Yong, LIU Chang, XU Bin. Multi-quadrotor UAVs formation maintenance and collision avoidance control [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 726913-726913.
[12]	CHEN Linxiu, YANG Xiangyu, ZHANG Hang, ZHAO Jiajia, HAO Mingrui. Composite guidance technology based on active radar/infrared information fusion [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 727058-727058.
[13]	SUN Yang, CHANG Min, BAI Junqiang. Trajectory planning and control for micro-quadrotor perching on vertical surface [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(9): 325756-325756.
[14]	RAN Qingbo, XIAO Hong, YANG Fuhong, DUAN Yugang. Trajectory planning algorithm for automatic wire laying on perforated surface [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(9): 425602-425602.
[15]	XIE Hua, LI Zihong, YANG Lei, ZHU Yongwen, LIU Fangzi. Optimization of four-dimensional trajectory of city pair with limited capacity [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(8): 325581-325581.