1. 中北大学机电工程学院
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)
纸质出版:2025
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袁泽慧, 李世中, 陈国栋. 面向移动平台的四旋翼自主降落技术研究[J]. 传感器与微系统, 2025,(5):48-52.
袁泽慧, 李世中, 陈国栋. 面向移动平台的四旋翼自主降落技术研究[J]. 传感器与微系统, 2025,(5):48-52. DOI: 10.13873/J.1000-9787(2025)05-0048-05.
四旋翼无人机能否在有限的空间内快速、精确地降落在移动地面平台上,进行充电或回收,是提高空地协同作业能力的前提和保障。搭建了一种四旋翼无人机在地面移动平台上自主降落的模型化框架。首先,采用复合标签降落标识估计无人机与地面平台间的相对位姿,并通过卡尔曼滤波器与协同系统中其他多传感器信息进行融合,实现对无人机与地面平台位置、速度等状态量的精确估计。其次在交汇阶段和降落阶段,为避免两阶段采用不同控制器引起无人机抖动,采用统一的比例导引(PN)和PID相结合的控制算法。最后,在大疆专用模拟器下,进行了多次硬件在环仿真实验,成功实现了无人机在速度为2 m/s地面平台上的自主降落,且平均降落误差为13.2 cm。
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任桂林,肖长诗,元海文.仿蜂鸟倾斜悬停的四旋翼系统设计[J].传感器与微系统,2024(11).
常丽,王晓红,武斌,王明宇.无人机夜间场景低照度图像增强方法[J].传感器与微系统,2024(10).
袁泽慧,陈国栋,张亚,王忠言.基于复合标志的四旋翼无人机自主降落系统[J].传感器与微系统,2024(03).
赵振兵,王帆帆,刘良帅,赵建利.基于注意力特征融合YOLOv5模型的无人机输电线路航拍图像金具检测方法[J].电测与仪表,2023(03).
Abenezer Girma,Niloofar Bahadori,Mrinmoy Sarkar,Tadewos G.Tadewos,Mohammad R.Behnia,M.Nabil Mahmoud,Ali Karimoddini,Abdollah Homaifar.IoT-Enabled Autonomous System Collaboration for Disaster-Area Management[J].IEEE/CAA Journal of Automatica Sinica,2020(05).
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