面向空中—水面协作的自主起降系统设计及控制
发布时间：2018-11-19 10:05
【摘要】：近年来野外移动机器人获得了巨大的发展,以无人机、无人船、无人车为代表的无人移动平台自主控制系统不断成熟,移动机器人行为规划的发展也日臻完善。移动机器人研究所面临的主要问题是环境感知能力的欠缺。小型无人机因体积小重量轻移动速度快,便于携带,拥有宽广的视角而在各个领域得到了广泛应用。但其缺点也很突出,如续航能力差,一般多旋翼无人机只能持续飞行20分钟左右,环境感知精度低,无法获取局部精确的环境信息。无人船负载大,续航时间长,可以安装多传感器以获取精确的局部信息,但由于其传感器安装位置较低很难获取全局环境信息。因此,我们提来空中-水面子母机器人系统的概念,以期通过无人机的广域环境感知和机动能力与水面机器人的局部环境精细感知和长续航能力融合,提高整个系统在复杂环境中的感知能力和自主行为性能。由于无人机需要进行多次在无人船上自主起降,因此自主起降系统在子母机器人系统中,不可或缺的也是至关重要的一环。只有在自主起降能够顺利完成的基础之上,后续的环境感知,空中水面协作才会成为可能。本文针对无人机自主起降所面临的问题,如无人机定位,无人机与无人船通信,无人机对无人船的跟踪,自主起降控制策略等问题,设计出了一套起降的解决方案。论文主要包括以下四个部分:(1)首先无人机定位方式采用差分GPS进行定位,同时通过卡尔曼滤波融合了陀螺仪、加速度计、电子罗盘等传感器信息提高无人机定位精度和频率。介绍了使用四元数对无人机的姿态解算的方法,以及PID控制器来实现位置控制。(2)完成无人机与无人船通信协议,包括无人船对无人机的控制指令,无人机与无人船位置和姿态信息交换。(3)设计出了一套起降辅助机构。该机构由两个“鱼叉”组成,安装在两侧起落架上,采用被动锚固方式,简单可靠,可以重复多次使用,满足了无人机在无人船上进行多次起降需要。(4)同时设计了无人机对无人船的跟踪控制算法,完成了部分协作功能。
[Abstract]:In recent years, the field mobile robot has made great progress. The autonomous control system of unmanned mobile platform represented by unmanned aerial vehicle, unmanned vessel and unmanned vehicle is becoming more and more mature, and the behavior planning of mobile robot is becoming more and more perfect. The main problem in mobile robot research is the lack of environmental perception. Small UAVs have been widely used in many fields because of their high speed, easy to carry and wide angle of view. But its shortcomings are also very prominent, such as poor endurance, the general multi-rotor UAV can only fly for about 20 minutes, the environmental perception accuracy is low, unable to obtain local accurate environmental information. Because of its heavy load and long duration, unmanned ship can install multiple sensors to obtain accurate local information, but it is difficult to obtain global environmental information because of its low sensor installation position. Therefore, we bring forward the concept of airborne and surface subrobot system, which is expected to combine the wide-area environmental perception and maneuverability of UAV with the local environment fine perception and long-lasting capability of surface robot. Improve the perception and autonomous behavior performance of the whole system in complex environment. Since unmanned aerial vehicles (UAVs) need to take off and land independently on unmanned ships many times, the autonomous take-off and landing system is an indispensable and crucial part in the sub-mother robot system. Only on the basis that autonomous take-off and landing can be successfully completed, can air surface cooperation become possible with subsequent environmental awareness. Aiming at the problems of UAV's autonomous take-off and landing, such as UAV positioning, communication between UAV and UAV, UAV tracking of UAV, autonomous take-off and landing control strategy, a set of solution is designed in this paper. The thesis mainly includes the following four parts: (1) firstly, differential GPS is used to locate the UAV, and the gyroscopes and accelerometers are fused by Kalman filter. Electronic compass and other sensor information to improve UAV positioning accuracy and frequency. This paper introduces the method of attitude calculation using quaternion pair UAV and the PID controller to realize position control. (2) the communication protocol between UAV and UAV is completed, including the control instruction of UAV. The position and attitude information of UAV and unmanned vessel are exchanged. (3) A set of auxiliary mechanism for take-off and landing is designed. The mechanism is composed of two harpoons and is mounted on both sides of the landing gear. It adopts passive anchoring, is simple and reliable, and can be used repeatedly. It can meet the need of UAV to take off and land on unmanned ship many times. (4) the tracking control algorithm of UAV to unmanned ship is designed at the same time, and part of the cooperative function is completed.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V249;TP242
本文编号：2341966
[Abstract]:In recent years, the field mobile robot has made great progress. The autonomous control system of unmanned mobile platform represented by unmanned aerial vehicle, unmanned vessel and unmanned vehicle is becoming more and more mature, and the behavior planning of mobile robot is becoming more and more perfect. The main problem in mobile robot research is the lack of environmental perception. Small UAVs have been widely used in many fields because of their high speed, easy to carry and wide angle of view. But its shortcomings are also very prominent, such as poor endurance, the general multi-rotor UAV can only fly for about 20 minutes, the environmental perception accuracy is low, unable to obtain local accurate environmental information. Because of its heavy load and long duration, unmanned ship can install multiple sensors to obtain accurate local information, but it is difficult to obtain global environmental information because of its low sensor installation position. Therefore, we bring forward the concept of airborne and surface subrobot system, which is expected to combine the wide-area environmental perception and maneuverability of UAV with the local environment fine perception and long-lasting capability of surface robot. Improve the perception and autonomous behavior performance of the whole system in complex environment. Since unmanned aerial vehicles (UAVs) need to take off and land independently on unmanned ships many times, the autonomous take-off and landing system is an indispensable and crucial part in the sub-mother robot system. Only on the basis that autonomous take-off and landing can be successfully completed, can air surface cooperation become possible with subsequent environmental awareness. Aiming at the problems of UAV's autonomous take-off and landing, such as UAV positioning, communication between UAV and UAV, UAV tracking of UAV, autonomous take-off and landing control strategy, a set of solution is designed in this paper. The thesis mainly includes the following four parts: (1) firstly, differential GPS is used to locate the UAV, and the gyroscopes and accelerometers are fused by Kalman filter. Electronic compass and other sensor information to improve UAV positioning accuracy and frequency. This paper introduces the method of attitude calculation using quaternion pair UAV and the PID controller to realize position control. (2) the communication protocol between UAV and UAV is completed, including the control instruction of UAV. The position and attitude information of UAV and unmanned vessel are exchanged. (3) A set of auxiliary mechanism for take-off and landing is designed. The mechanism is composed of two harpoons and is mounted on both sides of the landing gear. It adopts passive anchoring, is simple and reliable, and can be used repeatedly. It can meet the need of UAV to take off and land on unmanned ship many times. (4) the tracking control algorithm of UAV to unmanned ship is designed at the same time, and part of the cooperative function is completed.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V249;TP242
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