Publicação
Methodology for precision landing of unmanned aerial vehicles on a mobile base
| Resumo: | The integration of heterogeneous robotic systems is a constant topic today as a promising strategy to overcome the inherent limitations of each system. With this in view, this study explores the development of a precision landing system for Unmanned Aerial Vehicles (UAVs), designed to land autonomously on static and moving targets. To achieve this, a detailed analysis of aspects of the system is first carried out, such as the definition of the fiducial marker, the control architecture, and the definition of gains, followed by the development of the code, which includes the architecture and the interface with an operator. After development, tests begin which are divided into two stages: the first verifies the UAV’s ability to identify and follow moving targets, and the second consists of precision landing experiments in different scenarios. The results of the investigation indicate that the combination of a complete PID controller with Aruco markers is more effective, which is why they were selected for the development of the system. Tracking tests have proven the driver’s ability to guide the UAV to autonomously follow a UGV, although it presents difficulties with high angular speeds. On the other hand, autonomous landing tests showed high efficiency in constant speed scenarios but revealed some failures in situations with sudden changes and requests to the rotation driver. |
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| Autores principais: | Bonzatto Junior, Luciano |
| Assunto: | Cooperative robotics Unmanned aerial vehicles Unmanned ground vehicles Precision landing |
| Ano: | 2024 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Instituto Politécnico de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital do IPB |
| Resumo: | The integration of heterogeneous robotic systems is a constant topic today as a promising strategy to overcome the inherent limitations of each system. With this in view, this study explores the development of a precision landing system for Unmanned Aerial Vehicles (UAVs), designed to land autonomously on static and moving targets. To achieve this, a detailed analysis of aspects of the system is first carried out, such as the definition of the fiducial marker, the control architecture, and the definition of gains, followed by the development of the code, which includes the architecture and the interface with an operator. After development, tests begin which are divided into two stages: the first verifies the UAV’s ability to identify and follow moving targets, and the second consists of precision landing experiments in different scenarios. The results of the investigation indicate that the combination of a complete PID controller with Aruco markers is more effective, which is why they were selected for the development of the system. Tracking tests have proven the driver’s ability to guide the UAV to autonomously follow a UGV, although it presents difficulties with high angular speeds. On the other hand, autonomous landing tests showed high efficiency in constant speed scenarios but revealed some failures in situations with sudden changes and requests to the rotation driver. |
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