Development of an autonomous object transfer system by an unmanned aerial vehicle based on binocular vision | |
Liu X(刘旭); Chen B(陈博); He YQ(何玉庆); Li DC(李德才) | |
刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS |
2020 | |
卷号 | 17期号:1页码:1-17 |
关键词 | Unmanned aircraft system vision-based perception navigation and control autonomous task |
ISSN号 | 1729-8814 |
产权排序 | 1 |
英文摘要 | This article describes the development of an unmanned aerial vehicle system that had a remarkable performance in the 6th International Unmanned Aerial Vehicle Innovation Grand Prix, which was held on November 2-4, 2018, in Anji, China. The main mission of the competition was to build a simulated tower using prefabricated components by an unmanned rotorcraft, which could be decomposed into the following four subtasks: (1) navigation and control, (2) recognition and location, (3) grasp and construction, and (4) task planning and scheduling. All the tasks were required to perform autonomously without human intervention. According to the requirement of the mission, the unmanned aerial vehicle system was designed and implemented with high degree of autonomy and reliability, whose hardware was developed on a quadrotor platform by integrating various system components, including sensors, computers, power, and grasp mechanism. Software algorithms were exploited, and executable computer codes were implemented and integrated with the developed unmanned aerial vehicle hardware system. Integration of the two provided onboard intelligence to complete the mission. This article addresses the major components and development process of the unmanned aerial vehicle system and describes its applications to the competition mission. |
资助项目 | National Natural Science Foundation of China[U1508208] ; National Natural Science Foundation of China[U1608253] |
WOS关键词 | FEATURES |
WOS研究方向 | Robotics |
语种 | 英语 |
WOS记录号 | WOS:000517546600001 |
资助机构 | National Natural Science Foundation of ChinaNational Natural Science Foundation of China [U1508208, U1608253] |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/26443] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Liu X(刘旭) |
作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 4.University of Chinese Academy of Sciences, Beijing, China 5.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 6.University of Chinese Academy of Sciences, Beijing, China |
推荐引用方式 GB/T 7714 | Liu X,Chen B,He YQ,et al. Development of an autonomous object transfer system by an unmanned aerial vehicle based on binocular vision[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2020,17(1):1-17. |
APA | Liu X,Chen B,He YQ,&Li DC.(2020).Development of an autonomous object transfer system by an unmanned aerial vehicle based on binocular vision.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,17(1),1-17. |
MLA | Liu X,et al."Development of an autonomous object transfer system by an unmanned aerial vehicle based on binocular vision".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 17.1(2020):1-17. |
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