论文标题
使用无人机的协作跟踪和捕获空中对象
Collaborative Tracking and Capture of Aerial Object using UAVs
论文作者
论文摘要
这项工作详细介绍了使用多个无人机捕获空中目标捕获的问题。这个问题是从2020年穆罕默德本·扎耶德国际机器人挑战赛的挑战1中引起的。无人机利用视觉反馈来自主检测目标，接近目标并捕获目标，而不会干扰带有目标的车辆。 Multi-UAV协作提高了系统的效率，并增加了在短时间内稳健捕获球的机会。在本文中，通过在ROS-Gazebo环境中的模拟验证了所提出的体系结构，并在硬件上进一步实施。
This work details the problem of aerial target capture using multiple UAVs. This problem is motivated from the challenge 1 of Mohammed Bin Zayed International Robotic Challenge 2020. The UAVs utilise visual feedback to autonomously detect target, approach it and capture without disturbing the vehicle which carries the target. Multi-UAV collaboration improves the efficiency of the system and increases the chance of capturing the ball robustly in short span of time. In this paper, the proposed architecture is validated through simulation in ROS-Gazebo environment and is further implemented on hardware.
