四旋翼在移动平台视觉导引自主降落研究综述  

Review on quadrotor vision-guided autonomous landing on a moving platform

作　　者：袁泽慧[1] 陈国栋[2] 李世中[1] YUAN Zehui;CHEN Guodong;LI Shizhong(School of Mechanical and Electrical Engineering,North University of China,Taiyuan 030051,China;Jiangsu Laboratory of Robot Technology and Intelligent Manufacturing Equipment Engineering(Suzhou University),Suzhou 215021,China)

机构地区：[1]中北大学机电工程学院,太原030051 [2]江苏省机器人技术及智能制造装备工程实验室(苏州大学),江苏苏州215021

出　　处：《兵器装备工程学报》2023年第4期60-67,共8页Journal of Ordnance Equipment Engineering

基　　金：山西省回国留学人员科研资助项目(2020-108);江苏省机器人技术及智能装备工程实验室(苏州大学)开放基金项目。

摘　　要：四旋翼无人机能否在有限的空间内快速、精确的降落在地面移动平台上,进行充电或回收,保证无人机的自主复飞,是实现空地协同的前提。为进一步促进我国空地协同技术的研究和发展,综述了基于视觉导引方式的四旋翼无人机在移动平台上自主降落的最新研究成果。在简要介绍四旋翼无人机自主降落技术的总体流程和主要框架基础上,提炼其中的关键技术:降落标识检测算法,无人机和地面移动平台状态估计,降落轨迹跟踪和控制器设计,针对各关键技术分析和总结了其相应研究方法,并对国内外若干研究团队设计的自主降落系统中采用的主要硬件设备、相应关键技术和取得的成果进行了梳理。讨论了当前的研究难点和可行的解决方案,并对未来发展的重点方向进行了展望。It is the premise for a quadrotor to realize air-ground cooperation if it can land on a moving ground platform quickly and accurately in a limited space,charge or recover freely,and ensure autonomous return flights.In order to further promote the research and development of air-ground cooperation technology in China,this paper reviews the recent research of vision-guided autonomous landing of quadrotors on a moving ground platform.Based on a brief introduction of the overall process and main framework of autonomous landing technology of a quadrotor,the key technologies are summarized:landing marker detection and identification,state estimation for the quadrotor and the moving ground platform,as well as landing trajectory tracking and controller design.Meanwhile,the corresponding research methods are analyzed and summarized for each key technology,and various elements of the autonomous landing system designed by several research teams at home and abroad are reviewed,including main hardware equipment,corresponding key technologies and achievements obtained.Finally,the current research difficulties and feasible solutions are discussed,and the key directions of future development are prospected.

关 键 词：空地协同 四旋翼无人机 自主降落 移动平台 视觉导引 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]