Fast autonomous landing on a moving target at MBZIRC
Fast autonomous landing on a moving target at MBZIRC
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MBZIRC 在移动目标上快速自主着陆
DOI：
10.1109/ecmr.2017.8098669
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Sven Behnke
中科院分区：
文献类型：
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作者：
Marius Beul;Sebastian Houben;Matthias Nieuwenhuisen;Sven Behnke
识别、跟踪、接近和拦截非静止目标的能力是自主微型飞行器(MAV)所要求的能力，对目标的可靠感知、快速轨迹规划和稳定控制提出了很高的要求。我们提出了一种完全自主的MAV，它降落在安装在地面车辆上的平面平台上，仅依赖于车载传感和计算。我们在仿真和真实机器人实验中对我们的系统进行了评估。它的韧性在穆罕默德·本·扎耶德国际机器人挑战赛(MBZIRC)上得到了展示，它在比赛条件下工作。我们的团队NimbRo在MBZIRC挑战赛1中排名第三，并与其他两项任务一起赢得了MBZIRC大挑战赛。
The ability to identify, follow, approach, and intercept a non-stationary target is a desirable capability of autonomous micro aerial vehicles (MAV) and puts high demands on reliable target perception, fast trajectory planning, and stable control. We present a fully autonomous MAV that lands on a planar platform mounted on a ground vehicle, relying only on onboard sensing and computing. We evaluate our system in simulation as well as with real robot experiments. Its resilience was demonstrated at the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) where it worked under competition conditions. Our team NimbRo ranked third in the MBZIRC Challenge 1 and — in combination with two other tasks — won the MBZIRC Grand Challenge.