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微型无人机的自主着陆策略与镜像视野扩展
Xiaoqi Cheng1,2, Xinfeng Liang2,3, Xiaosong Li2,3
1School of Mechatronic Engineering and Automation, Foshan University, Foshan 528225, China.
Sensors (Basel, Switzerland)
|November 9, 2024
概括
本研究引入了一种新的视觉定位方法,使用镜像视野扩展用于微型飞行器 (MAV) 的自主降落. 该系统实现了精确的MAV着陆,平均精度为0.06米.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 航空航天工程 航空航天工程
背景情况:
- 自主飞行任务在很大程度上依赖于无人机的准确定位和着陆能力.
- 微型飞行器 (MAV) 对于各种应用需要强大而精确的着陆策略.
- 现有的基于视觉的着陆系统经常面临视野和精度的局限性.
研究的目的:
- 开发用于四旋翼MAV自主着陆的视觉定位方法.
- 为了提高前置摄像头的视野,以改善着陆标记的检测.
- 使用视觉和惯性测量单元 (IMU) 方法实现高精度的自主降落.
主要方法:
- 使用镜像视野扩展技术与面向前的摄像头来获得上方和前方的视图.
- 使用虚拟现实图像转换和R-PnP姿势估计来确定MAV相对于着陆标记的姿势.
- 实施相机-IMU外部参数校准,以实现准确的姿势转换.
- 开发基于实时位置数据的自动着陆指导算法.
主要成果:
- 在室内和室外环境中,在DJI Tello MAV上进行了成功的自主着陆实验.
- 拟议的方法实现了0.06米的平均着陆精度.
- 该系统证明了其能够满足MAV的高精度着陆要求.
结论:
- 镜像视野扩展方法有效地增强了自动着陆的视觉感知.
- 集成的视觉定位和指导策略使MAVs可靠和准确的自主降落.
- 这项研究为精确的MAV自主降落提供了实际解决方案,适用于各种自主飞行任务.
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