Autonomous capture of agile flying objects using UAVs: The MBZIRC 2020 challenge
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00353656" target="_blank" >RIV/68407700:21230/22:00353656 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1016/j.robot.2021.103970" target="_blank" >https://doi.org/10.1016/j.robot.2021.103970</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.robot.2021.103970" target="_blank" >10.1016/j.robot.2021.103970</a>
Alternative languages
Result language
angličtina
Original language name
Autonomous capture of agile flying objects using UAVs: The MBZIRC 2020 challenge
Original language description
In this paper, a novel approach for autonomously catching fast flying objects is presented, as inspired by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020. In this competition, an autonomous Unmanned Aerial Vehicle (UAV) was used to intercept a ball carried by a fast flying drone. The presented solution utilizes a 3D LiDAR sensor for quick and robust target detection. The trajectory of the target is estimated and predicted to select a suitable interception position. The interceptor UAV is navigated into the interception position to safely approach the target. The interception position is frequently being adjusted based on the updated estimation and prediction of the target’s motion to ensure that the ball is caught in the dedicated onboard net. After a successful interception is detected, the UAV lands in a designated landing area. The proposed concept was intensively tested and refined in demanding outdoor conditions with strong winds and varying perception conditions to achieve the robustness required by both the demanding application and the competition. In the MBZIRC 2020 competition, our solution scored second place in Challenge 1 and first place in a combined Grand Challenge. This manuscript will provide a detailed description of the applied methods and an evaluation of our approach with data collected from real-world experiments. In addition, we present achievements of our R&D towards the transition from the MBZIRC competition to an autonomous drone interceptor, which was the main motivation of this challenge.
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
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Robotics and Autonomous Systems
ISSN
0921-8890
e-ISSN
1872-793X
Volume of the periodical
2022
Issue of the periodical within the volume
149
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
13
Pages from-to
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UT code for WoS article
000791843400006
EID of the result in the Scopus database
2-s2.0-85121769317