基于无人车和无人机协作的动态降落研究

发布时间：2018-02-05 03:54

本文关键词： 无人车无人机多机器人协作动态降落　出处：《哈尔滨工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：机器人技术的日益成熟使得地面机器人和空中小型无人机在现实中得到广泛应用。无人驾驶汽车可以帮助驾驶员从劳累的汽车驾驶中解脱出来。Google,百度和特斯拉汽车等大型科技公司在无人驾驶汽车领域越来越重视,在研发中投入了很多的人力物力。无人机在近几年也得到了广泛的推广应用,特别是在航拍,搜救等领域。各种不同构造,不同应用的机器人相互之间的协作显得越来越重要。目前,由于无人机的计算处理数据的能力有限,针对无人机的应用大多采取由地面人员操控的方法实现起飞降落和空中导航。无人车运载能力强,在搭载了高性能计算机的情况下计算处理能力可以满足机器人的导航避障功能的实现,所以无人车和无人机两者之间的协作可以更好的发挥两者的应用范围。本课题的研究内容为无人机通过摄像头得到的图像计算得到无人车的位置以及两者之间的信息通信协作实现无人机稳定的动态跟踪降落。本系统硬件部分由地面机器人和空中无人机部分组成,地面机器人上载有高性能的计算处理器,IMU,激光雷达等传感器。无人机采用的是大疆的M100四旋翼无人机,该飞机载有高清摄像头,高精度云台,图像传输器以及ARM四核处理器,具备一定能力的数据处理能力。本课题的机器人协作部分主要体现在无人机在与地面机器人的信息通信的基础上实现动态跟踪降落。该系统的主要应用方向为救援和快递运输,地面机器人具有很强的载重能力和无人机的在高空的飞行灵活性可以很好的满足大规模和长时间的搜救任务。快递投送采用地面机器人和空中机器人协作后解决了原来的地域限制,在无人机自动完成起飞导航以及动态降落的情况下可以更高效的完成快递投送任务。本课题在自主构建的无人车及无人机协作平台上实现了所设计的控制方式,证明了在无人机和无人车协作的情况下,无人机可以稳定快速的降落到无人车上,自动化完成任务可以减少人员的操作,提升效率。并通过具体分析,说明了将该设计推广到不同机器人平台上的必要性和可行性。
[Abstract]:With the development of robotics technology, ground-based robots and small aerial drones are widely used in reality. Driverless cars can help drivers to free themselves from exhausting driving. Google. Large technology companies such as Baidu and Tesla Motor have paid more and more attention to the field of driverless cars and invested a lot of manpower and material resources in the research and development. UAVs have also been widely used in recent years. Especially in the fields of aerial photography, search and rescue, the cooperation between robots with different structures and applications is becoming more and more important. At present, due to the limited ability of UAV to compute and process data. Most of the UAV applications are controlled by ground personnel to achieve take-off and landing and air navigation. In the case of high performance computer, the computing and processing ability can meet the requirements of navigation and obstacle avoidance of the robot. Therefore, the collaboration between UAV and UAV can play a better role in the application of both. The research content of this paper is that UAV can get the position of UAV and the position of UAV by the image obtained by camera. The hardware of this system is composed of ground robot and aerial UAV. The ground robot carries sensors such as IMU, Lidar and other high-performance computing processors. The drone uses Dajiang's M100 four-rotor UAV, which carries a high-definition camera and a high-precision cloud head. Image transmitter and ARM quad-core processor. The robot cooperation part of this thesis is mainly embodied in the dynamic tracking landing based on the information communication between UAV and ground robot. The main application direction of this system is to save. Aid and express delivery. The ground robot has the very strong load capacity and the UAV flying flexibility in the high altitude can satisfy the large-scale and the long time search and rescue mission well. Express delivery uses the ground robot and the aerial robot to cooperate to solve the problem. The original territorial restrictions. In the case of UAV take-off navigation and dynamic landing can be more efficient to complete the task of express delivery. This topic in the autonomous construction of unmanned vehicles and UAV cooperation platform to achieve the design of the control mode. It is proved that the UAV can land on the unmanned vehicle stably and quickly under the cooperation of UAV and UAV. The automatic completion of the task can reduce the operation of the personnel and improve the efficiency. The necessity and feasibility of extending the design to different robot platforms are illustrated.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V279;TP242

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