无人机移动自主回收着陆原理及控制方法

doi:10.3901/JME.2024.03.034

机械工程学报 ›› 2024, Vol. 60 ›› Issue (3): 34-46.doi: 10.3901/JME.2024.03.034

扫码分享

无人机移动自主回收着陆原理及控制方法

汪首坤¹, 许永康¹, 陈志华^1,2, 司金戈¹, 李斌¹, 王军政¹

1. 北京理工大学伺服运动系统驱动与控制工信部重点实验室北京 100081;
2. 南昌航空大学无损检测技术教育部重点实验室南昌 330063

收稿日期:2023-02-06 修回日期:2023-09-16 出版日期:2024-02-05 发布日期:2024-04-28
通讯作者: 陈志华,男,1991年出生,博士,讲师。主要研究方向为地面无人平台智能控制。E-mail:zhihua.chen@nchu.edu.cn
作者简介:汪首坤,男, 1977 年出生,博士,教授,博士研究生导师。主要研究方向为无人平台运动驱动与控制,多智能体协同控制。E-mail:bitwsk@bit.edu.cn
基金资助:
国家自然科学基金(62173038)、国家重点研发计划(2019YFC1511401)、江西省自然科学基金-青年基金(20232BAB212028)、江西省教育厅科学基金(GJJ2201128)、江西省图像处理与模式识别重点实验室开放基金(ET202204304)和江西省南昌航空大学博士启动基金(EA202204257)资助项目。

Mobile Autonomous Recovery Landing Principle and Control Method for Unmanned Aerial Vehicle

WANG Shoukun¹, XU Yongkang¹, CHEN Zhihua^1,2, SI Jinge¹, LI Bin¹, WANG Junzheng¹

1. Key Laboratory of Servo Motion System Drive and Control, Beijing Institute of Technology, Beijing 100081;
2. Key Laboratory of Nondestructive Testing Technology of Ministry of Education, Nanchang Hangkong University, Nanchang 330063

Received:2023-02-06 Revised:2023-09-16 Online:2024-02-05 Published:2024-04-28

摘要/Abstract

摘要： 针对无人机回收存在着陆点相对固定、被动回收、灵活性及环境适应性较差等问题,提出了一种无人机全自主的地面移动回收原理,主要包括目标定位、动态轨迹跟踪和的主动柔顺承接,实现野外复杂环境下自主化的无人机动态移动回收。首先,针对难以精确获取无人机动态位置的问题,提出了多传感器信息融合定位和伺服转台聚焦跟踪的目标定位方法;其次,为完成对无人机的快速高精度跟踪,提出了基于无人车和 Stewart 平台的双级跟踪控制策略;最后,为了解决无人机着陆过程冲击大、重心失稳等问题,设计了基于模型预测的平稳性控制算法和基于自适应变阻抗的柔顺控制算法,在实时调整承接面位姿的同时做到了主动柔顺承接。搭建了由目标定位系统、无人车和 Stewart 平台组成的原理样机,验证了本原理的可行性及控制算法的有效性,该方案和技术已成功运用于某型号固定翼无人机自主回收。

关键词: 无人机, 移动自主回收, 目标定位, 动态轨迹跟踪, 柔顺承接

Abstract: Aiming at the problems of relatively fixed landing point, passive recovery, poor flexibility and environmental adaptability of unmanned aerial vehicle (UAV) recovery landing, a fully autonomous ground mobile recovery principle of UAV is proposed, including UAV localization, landing point tracking, and the active flexible undertaking to realize autonomous UAV dynamic mobile recovery landing in the complex environment in the field. Firstly, in order to guarantee the accuracy of acquiring the dynamic position of UAV, a target localization method with multi-sensor information fusion localization and servo turntable tracking is proposed. Secondly, to achieve fast and high-precision tracking of UAV, a two-stage tracking control strategy based on unmanned ground vehicle (UGV) and Stewart platform is proposed. Finally, to solve the problems of large impact and center of gravity instability in the landing process of UAV, a stability control algorithm based on model prediction and a compliance control algorithm based on adaptive variable impedance are designed to achieve active compliance while adjusting the position and attitude of the receiving surface in real time. A principle prototype consisting of a localization device, UGV, and Stewart platform was built to verify the feasibility of the principle and the effectiveness of the control algorithm. The scheme and technology have been successfully applied to the autonomous recovery of a fixed wing UAV.

Key words: unmanned aerial vehicle, mobile autonomous recovery, target positioning, falling point tracking, flexible undertaking

中图分类号:

TP24

汪首坤, 许永康, 陈志华, 司金戈, 李斌, 王军政. 无人机移动自主回收着陆原理及控制方法[J]. 机械工程学报, 2024, 60(3): 34-46.

WANG Shoukun, XU Yongkang, CHEN Zhihua, SI Jinge, LI Bin, WANG Junzheng. Mobile Autonomous Recovery Landing Principle and Control Method for Unmanned Aerial Vehicle[J]. Journal of Mechanical Engineering, 2024, 60(3): 34-46.

参考文献

[1] 白光晗,张驰,兑红炎,等.无人机集群任务可靠性建模及重要度分析[J].机械工程学报, 2022, 58(10):361-373. BAI Guanghan, ZHANG Chi, DUI Hongyan, et al. Reliability modeling and importance analysis of UAV swarm[J]. Journal of Mechanical Engineering, 2022, 58(10):361-373.
[2] 吴西涛,魏超,翟建坤,等.考虑横摆稳定性的无人车轨迹跟踪控制优化研究[J].机械工程学报, 2022, 58(6):130-142. WU Xitao, WEI Chao, ZHAI Jiankun, et al. Study on the optimization of autonomous vehicle on path-following considering yaw stability[J]. Journal of Mechanical Engineering, 2022, 58(6):130-142.
[3] YANG S, XI L, HAO J, et al. Aerodynamic-parameter identification and attitude control of quad-rotor model with CIFER and adaptive LADRC[J]. Chinese Journal of Mechanical Engineering, 2021, 34(2):1.
[4] CHU W, WUNIRI Q, DU X, et al. Cloud control system architectures, technologies and applications on intelligent and connected vehicles:a review[J]. Chinese Journal of Mechanical Engineering, 2021, 34(5):139.
[5] 鲁亚飞,陈清阳,王鹏,等.中小型固定翼无人机精确回收技术发展与关键技术分析[J].飞航导弹, 2020(4):59-65. LU Yafei, CHEN Qingyang, WANG Peng, et al. Development and key technology analysis of precise recovery technology for small and medium-sized fixed wing UAV[J]. Aerodynamic Missile Journal, 2020(4):59-65.
[6] MAZA I, CABALLERO F, CAPITAB J, et al. Experimental results in multi-UAV coordination for disaster management and civil security applications[J]. Journal of Intelligent & Robotic Systems, 2011, 61:563-585.
[7] WYLLIE T. Parachute recovery for UAV systems[J]. Aircraft Engineering and Aerospace Technology, 2001, 73(6):542-551.
[8] KIM H J, KIM M, LIM H, et al. Fully autonomous vision-based net-recovery landing system for a fixed-wing UAV[J]. IEEE/ASME Transactions on Mechatronics, 2013, 18(4):1320-1333.
[9] BORNEBUSH M F, JOHANSEN T A. Autonomous recovery of a fixed-wing UAV using a line suspended between two multirotor UAVs[J]. IEEE Transactions on Aerospace and Electronic Systems, 2020, 57(1):90-104.
[10] PATRUNO C, NITTI M, PETITTI A, et al. A vision-based approach for unmanned aerial vehicle landing[J]. Journal of Intelligent & Robotic Systems, 2019, 95(2):645-664.
[11] REDDING J D, MCLAIN T W, BEARD R W, et al. Vision-based target localization from a fixed-wing miniature air vehicle[C]//IEEE American Control Conference, June 14-16, 2006, Minneapolis, MN, USA. IEEE, 2006:2862-2867.
[12] SHARP C S, SHAKERNIA O, SASTRY S S. A vision system for landing an unmanned aerial vehicle[C]//Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation, May 21-26, 2001. Seoul, Korea. IEEE, 2001:1720-1727.
[13] KONG W, ZHOU D, ZHANG Y, et al. A ground-based optical system for autonomous landing of a fixed wing UAV[C]//2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. September 14-18, 2014, Chicago, IL, USA. IEEE, 2014:4797-4804.
[14] ACHTELIK M, ZHANG T, KUHNLENZ K, et al. Visual tracking and control of a quadcopter using a stereo camera system and inertial sensors[C]//2009 International Conference on Mechatronics and Automation, August 9-12, 2009. Changchun, China. IEEE, 2009:2863-2869.
[15] KALINOV I, SAFRONOV E, AGISHEV R, et al. High-precision UAV localization system for landing on a mobile collaborative robot based on an IR marker pattern recognition[C]//2019 IEEE 89th Vehicular Technology Conference (VTC2019-Spring), 28 April-01 May, 2019. Kuala Lumpur, Malaysia. IEEE, 2019:1-6.
[16] YU Xianjia, LI Qingqing, QUERALTA J P, et al. Cooperative uwb-based localization for outdoors positioning and navigation of UAVs aided by ground robots[C]//2021 IEEE International Conference on Autonomous Systems (ICAS), August 11-13, 2021. Montreal, QC, Canada. IEEE, 2021:1-5.
[17] 伍明,孙继银.基于扩展式卡尔曼滤波的移动机器人未知环境下动态目标跟踪[J].机器人, 2010, 32(3):334-343. WU Ming, SUN Jiyin. Extended Kalman filter based moving object tracking by mobile robot in unknown environment[J]. Robot, 2010, 32(3):334-343.
[18] JAYASREE K R, JAYASREE P R, VIVEK A. Dynamic target tracking using a four wheeled mobile robot with optimal path planning technique[C]//2017 International Conference on Circuit, Power and Computing Technologies (ICCPCT),April 20-21,2017. Kollam,India. IEEE, 2017:1-6.
[19] WEI Y, ZHU D, CHU Z. Underwater dynamic target tracking of autonomous underwater vehicle based on MPC algorithm[C]//2018 IEEE 8th International Conference on Underwater System Technology:Theory and Applications (USYS), December 1-3, 2018. Wuhan, China. IEEE, 2018:1-5.
[20] QUINTERO S A P, COPP D A, HESPANHA J P. Robust coordination of small UAVs for vision-based target tracking using output-feedback MPC with MHE[J]. Cooperative Control of Multi-Agent Systems:Theory and Applications, 2017(1):51-83.
[21] ASHE A, KRISHNA K M. Dynamic target tracking & collision avoidance behaviour of person following robot using model predictive control[C]//2020 24th International Conference on System Theory, Control and Computing (ICSTCC), October 8-10, 2020. Sinaia, Romania. IEEE, 2020:660-666.
[22] FASSE E D, GOSSELIN C M. Spatio-geometric impedance control of gough-stewart platforms[J]. IEEE Transactions on Robotics and Automation, 1999, 15(2):281-288.
[23] DAVLIAKOS I, PAPADOPOULOS E. A model-based impedance control of a 6-DOF electrohydraulic Stewart platform[C]//2007 European Control Conference (ECC), July 2-5, 2007. Kos, Greece. IEEE, 2007:3507-3514.
[24] ZHANG Hao, WANG Shoukun, YAN Z, et al. Stewart-inspired posture control for a UAV undertaking platform based on dynamic model predictive control[C]//2021 China Automation Congress (CAC), October 22-24, 2021. Beijing, China. IEEE, 2021:3601-3606.
[25] GODARDC, MAC A O, FIRMAN M, et al. Digging into self-supervised monocular depth estimation[C]//Proceedings of the IEEE/CVF International Conference on Computer Vision, 2019:3828-3838.

无人机移动自主回收着陆原理及控制方法

Mobile Autonomous Recovery Landing Principle and Control Method for Unmanned Aerial Vehicle

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 7

编辑推荐

Metrics

本文评价

[1]	刘阳, 王开松, 唐威, 秦可成, 张涛, 杨展, 邹俊. 基于倾转电机的可折翼的水空两栖无人机设计与实现[J]. 机械工程学报, 2024, 60(2): 272-286.
[2]	刘新华, 郭斌, 何瑢, 贾璞, 刘小川, 郭亚周, 杨世春. 轻型无人机电池动态冲击性能研究[J]. 机械工程学报, 2023, 59(2): 177-186.
[3]	戴佳佳, 龚小溪, 汪俊. 面向飞机外表面检测任务的无人机覆盖路径规划方法[J]. 机械工程学报, 2023, 59(16): 243-253.
[4]	白光晗, 张驰, 兑红炎, 张云安, 陶俊勇. 无人机集群任务可靠性建模及重要度分析[J]. 机械工程学报, 2022, 58(10): 361-373.
[5]	刘云平, 蒋长胜, 张婷婷, 赵中原, 邓志良. 考虑内部避碰的多无人机有限时间环形编队控制[J]. 机械工程学报, 2022, 58(1): 61-68.
[6]	鲜斌, 刘洋, 张旭, 曹美会. 基于视觉的小型四旋翼无人机自主飞行控制[J]. 机械工程学报, 2015, 51(9): 58-63.
[7]	李悦;裴锦华. 无人机气液压发射动力学数值仿真[J]. , 2011, 47(8): 183-190.