论文标题
四型自动降落在移动平台上
Quadrotor Autonomous Landing on Moving Platform
论文作者
论文摘要
本文在移动平台上介绍了四肢的自动起飞和着陆系统。设计的系统解决了三个具有挑战性的问题：快速姿势估计，受限的外部定位以及有效的避免障碍物。具体而言，首先，我们基于Aruco标记设计了着陆识别和定位系统，以帮助四极管快速计算相对姿势。其次，我们利用基于梯度的本地运动计划者来快速生成无碰撞参考轨迹。第三，我们构建了一台自主状态机器，使四极管能够以完全自主权完成其起飞，跟踪和着陆任务；最后，我们在模拟，现实世界和室外环境中进行实验，以验证系统的有效性并证明其潜力。
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle avoidance. Specifically, first, we design a landing recognition and positioning system based on the AruCo marker to help the quadrotor quickly calculate the relative pose; second, we leverage a gradient-based local motion planner to generate collision-free reference trajectories rapidly for the quadrotor; third, we build an autonomous state machine that enables the quadrotor to complete its take-off, tracking and landing tasks in full autonomy; finally, we conduct experiments in simulated, real-world indoor and outdoor environments to verify the system's effectiveness and demonstrate its potential.
