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Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach
This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station....
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8749553/ https://www.ncbi.nlm.nih.gov/pubmed/35009946 http://dx.doi.org/10.3390/s22010404 |
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author | Chang, Ching-Wei Lo, Li-Yu Cheung, Hiu Ching Feng, Yurong Yang, An-Shik Wen, Chih-Yung Zhou, Weifeng |
author_facet | Chang, Ching-Wei Lo, Li-Yu Cheung, Hiu Ching Feng, Yurong Yang, An-Shik Wen, Chih-Yung Zhou, Weifeng |
author_sort | Chang, Ching-Wei |
collection | PubMed |
description | This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Unlike most state-of-the-art UAV landing frameworks that rely on UAV onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such a novel configuration can therefore lighten the burden of the UAV, and the computation power of the ground vehicle/marine vessel can be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted, and the results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed. |
format | Online Article Text |
id | pubmed-8749553 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-87495532022-01-12 Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach Chang, Ching-Wei Lo, Li-Yu Cheung, Hiu Ching Feng, Yurong Yang, An-Shik Wen, Chih-Yung Zhou, Weifeng Sensors (Basel) Article This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Unlike most state-of-the-art UAV landing frameworks that rely on UAV onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such a novel configuration can therefore lighten the burden of the UAV, and the computation power of the ground vehicle/marine vessel can be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted, and the results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed. MDPI 2022-01-05 /pmc/articles/PMC8749553/ /pubmed/35009946 http://dx.doi.org/10.3390/s22010404 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Chang, Ching-Wei Lo, Li-Yu Cheung, Hiu Ching Feng, Yurong Yang, An-Shik Wen, Chih-Yung Zhou, Weifeng Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
title | Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
title_full | Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
title_fullStr | Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
title_full_unstemmed | Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
title_short | Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach |
title_sort | proactive guidance for accurate uav landing on a dynamic platform: a visual–inertial approach |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8749553/ https://www.ncbi.nlm.nih.gov/pubmed/35009946 http://dx.doi.org/10.3390/s22010404 |
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