Development of an unmanned helicopter automatic barrels transportation system

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Development of an unmanned helicopter automatic barrels transportation system
	Wu C(吴冲); Qi JT(齐俊桐); Song DL(宋大雷); Qi X(齐欣); Lin, Tianyu; Han JD(韩建达)
	2015
会议名称	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
会议日期	May 26-30, 2015
会议地点	Seattle, WA, United states
页码	4686-4691
中文摘要	In the 2nd International Unmanned Aerial Vehicle (UAV) Innovation Grand Prix (UAVGP) sponsored by Aviation Industry Corporation of China (AVIC), an autonomous barrel transportation mission was proposed for Rotary-wing UAV (RUAV) which aims at validating the feasibility of marine vertical replenishment by RUAVs. The RUAV was supposed to track the movable platform, pick up barrels on the supplier platform, stack barrels on the replenishment platform, take off and land autonomously without any human interference. The final score was determined based on the mission completion time and the stacking accuracy. The main challenges involved in this mission include attitude stabilizing with varying payload, accurate movable platform tracking and task-scheduling. An unmanned helicopter (UH) automatic barrels transportation system was established by our team, and the navigation system, control system and task scheduling system will be detailed in this paper, along with the flight tests before and in the competition. The system's performance has been verified in the competition and won the first prize finally.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceedings - IEEE International Conference on Robotics and Automation
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	1050-4729
ISBN号	978-1-4799-6923-4
WOS记录号	WOS:000370974904092
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/16866]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wu C,Qi JT,Song DL,et al. Development of an unmanned helicopter automatic barrels transportation system[C]. 见:2015 IEEE International Conference on Robotics and Automation, ICRA 2015. Seattle, WA, United states. May 26-30, 2015.