Towards Aerial Recovery of Parachute-Deployed Payloads
Towards Aerial Recovery of Parachute-Deployed Payloads
复制标题
致力于空中回收降落伞部署的有效载荷
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Carrick Detweiler
中科院分区：
文献类型：
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作者：
A. Shankar;Sebastian G. Elbaum;Carrick Detweiler
悬挂在降落伞上的传感器有效载荷经常用于大气剖面分析应用。它们自由漂移，往往最终降落在难以进入的区域，使它们的检索具有挑战性或不可能。在本文中，我们开发和评估的方法，使用多旋翼无人机系统自主检索降落伞，而它仍然在空中。该系统仅依赖于降落伞有效载荷系统的初始条件和机载摄像机的反馈，平均在40秒内跟踪并拦截空中降落伞。我们提出的结果，从我们的现场实验中，我们证明了该系统的可行性，并讨论其适用于长期有效载荷运输系统。
Sensor payloads suspended from parachutes are often used in atmospheric profiling applications. They drift freely and often end up landing in inaccessible regions that make their retrieval challenging or impossible. In this paper, we develop and evaluate an approach using a multirotor unmanned aerial system to autonomously retrieve the parachute while it is still in the air. The system relies only on the initial conditions of the parachute-payload system and feedback from the vehicle's onboard cameras to track and then intercept the parachute mid-air in under 40 seconds on average. We present the results from our field experiments where we demonstrate the feasibility of the system and discuss its applicability to long-term payload transportation systems.