高速走行車両へのマルチロータ小型航空機の自律着陸
Autonomous Landing of a Multirotor Micro Air Vehicle on a High Velocity Ground Vehicle
クアッドコプターが時速50kmで走行する車の屋根に自律着陸するシステムを開発し、相対位置・速度推定のカルマンフィルタと着陸制御器を実装して実験で成功を確認した。
著者: Alexandre Borowczyk, Duc-Tien Nguyen, André Phu-Van Nguyen, Dang Quang Nguyen, David Saussié, Jerome Le Ny
分類: cs.RO
原文アブストラクト
While autonomous multirotor micro aerial vehicles (MAVs) are uniquely well suited for certain types of missions benefiting from stationary flight capabilities, their more widespread usage still faces many hurdles, due in particular to their limited range and the difficulty of fully automating their deployment and retrieval. In this paper we address these issues by solving the problem of the automated landing of a quadcopter on a ground vehicle moving at relatively high speed. We present our system architecture, including the structure of our Kalman filter for the estimation of the relative position and velocity between the quadcopter and the landing pad, as well as our controller design for the full rendezvous and landing maneuvers. The system is experimentally validated by successfully landing in multiple trials a commercial quadcopter on the roof of a car moving at speeds of up to 50 km/h.
