Multirotor Docking with an Airborne Platform
Multirotor Docking with an Airborne Platform
复制标题
多旋翼飞行器与机载平台对接
DOI：
10.1007/978-3-030-71151-1_5
复制
发表时间：
2021
期刊：
影响因子：
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通讯作者：
Detweiler, C.
中科院分区：
文献类型：
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作者：
Shankar, A.;Elbaum, S.;Detweiler, C.
多旋翼系统传统上用于确保与其附近物体接触最少的任务。然而，他们灵活的飞行动态使他们能够快速感知、计划和反应，从而执行高度动态的任务。在这项工作中，我们通过开发一个允许多旋翼与移动平台对接的完整框架，进一步推动了它们的操作范围。我们的方法建立在最先进和最优的方法之上，用于估计和预测移动平台的状态，以及为对接多旋翼生成拦截轨迹。通过总共25次野外测试，我们展示了我们的系统在不同速度和不同操作条件下与移动平台对接的能力。我们还评估了我们的系统在2米/S以上的速度下实现对接的轨迹质量，以在10米内对接S。
Multirotor systems have traditionally been employed for missions that ensure minimal contact with the objects in their vicinity. However, their agile flight dynamics lets them sense, plan and react rapidly, and therefore perform highly dynamic missions. In this work, we push their operational envelope further by developing a complete framework that allows a multirotor to dock with a moving platform. Our approach builds on state-of-the-art and optimal methods for estimating and predicting the state of the moving platform, as well as for generating interception trajectories for the docking multirotor. Through a total of 25 field tests outdoors, we demonstrate the capabilities of our system in docking with a platform moving at different speeds and in various operating conditions. We also evaluate the quality of our system’s trajectory following at speeds over 2 m/s to effect docking within 10 s.
DOI：
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发表时间：
2018
期刊：
IEEE/RJS International Conference on Intelligent RObots and Systems
影响因子：
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作者：
Ryo Miyazaki;Rui Jiang;Hannibal Paul;Koji Ono;K. Shimonomura
通讯作者：
K. Shimonomura