Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark
المؤلفون المشاركون
Pan, Feng
Gao, Qi
Li, Weixing
Feng, Xiaoxue
Xing, Bo-Yang
المصدر
International Journal of Aerospace Engineering
العدد
المجلد 2019، العدد 2019 (31 ديسمبر/كانون الأول 2019)، ص ص. 1-15، 15ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2019-05-05
دولة النشر
مصر
عدد الصفحات
15
الملخص EN
In the existing vision-based autonomous landing systems for micro aerial vehicles (MAVs) on moving platforms, the limited range of landmark localization, the unknown measurement bias of the moving platform (such as wheel-slip or inaccurate calibration of encoders), and landing trajectory knotting seriously affect system performance.
To overcome the above shortcomings, an autonomous landing system using a composite landmark is proposed in this paper.
In the proposed system, a notched ring landmark and two-dimensional landmark are combined as an R2D landmark to provide visual localization over a wide range.
In addition, the wheel-slip and imprecise calibration of encoders are modeled as the unknown measurement bias of the encoders and estimated online via an extended Kalman filter.
The landing trajectory is planned by a solver as a convex quadratic programming problem in each control cycle.
Meanwhile, an iterative algorithm for adding equality constraints is proposed and used to verify whether the planned trajectory is feasible or not.
The simulation and actual landing experiment results verify the following: the visual localization with the R2D landmark has the advantages of wide localization range and high localization accuracy, the pose estimation result of the moving platform with unknown encoder measurement bias is continuous and accurate, and the proposed landing trajectory planning algorithm provides a continuous trajectory for reliable landing.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Xing, Bo-Yang& Pan, Feng& Feng, Xiaoxue& Li, Weixing& Gao, Qi. 2019. Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark. International Journal of Aerospace Engineering،Vol. 2019, no. 2019, pp.1-15.
https://search.emarefa.net/detail/BIM-1156524
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Xing, Bo-Yang…[et al.]. Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark. International Journal of Aerospace Engineering No. 2019 (2019), pp.1-15.
https://search.emarefa.net/detail/BIM-1156524
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Xing, Bo-Yang& Pan, Feng& Feng, Xiaoxue& Li, Weixing& Gao, Qi. Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark. International Journal of Aerospace Engineering. 2019. Vol. 2019, no. 2019, pp.1-15.
https://search.emarefa.net/detail/BIM-1156524
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1156524
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر