Autonomous landing on a moving vehicle with an unmanned aerial vehicle
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00326172" target="_blank" >RIV/68407700:21230/19:00326172 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1002/rob.21858" target="_blank" >https://doi.org/10.1002/rob.21858</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1002/rob.21858" target="_blank" >10.1002/rob.21858</a>
Alternative languages
Result language
angličtina
Original language name
Autonomous landing on a moving vehicle with an unmanned aerial vehicle
Original language description
This paper addresses the perception, control, and trajectory planning for an aerial platform to identify and land on a moving car at 15 km/hr. The hexacopter unmanned aerial vehicle (UAV), equipped with onboard sensors and a computer, detects the car using a monocular camera and predicts the car future movement using a nonlinear motion model. While following the car, the UAV lands on its roof, and it attaches itself using magnetic legs. The proposed system is fully autonomous from takeoff to landing. Numerous field tests were conducted throughout the year-long development and preparations for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 competition, for which the system was designed. We propose a novel control system in which a model predictive controller is used in real time to generate a reference trajectory for the UAV, which are then tracked by the nonlinear feedback controller. This combination allows to track predictions of the car motion with minimal position error. The evaluation presents three successful autonomous landings during the MBZIRC 2017, where our system achieved the fastest landing among all competing teams.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilization and control of teams of relatively-localized micro aerial vehicles in high obstacle density areas</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Journal of Field Robotics
ISSN
1556-4959
e-ISSN
1556-4967
Volume of the periodical
36
Issue of the periodical within the volume
5
Country of publishing house
US - UNITED STATES
Number of pages
18
Pages from-to
874-891
UT code for WoS article
000475466200002
EID of the result in the Scopus database
2-s2.0-85059557991