TY - GEN
T1 - Autonomous Tracking and Landing of QUAV Based on Air-Ground Cooperation
AU - Xiao, Xuan
AU - Wang, Chen
AU - Yang, Yi
AU - Li, Zhuang
AU - Qin, Ziyu
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - Quadrotor Unmanned Aircraft Vehicle (QUAV) and ground mobile platform work together to accomplish tasks, which have significant application value in military and civilian fields. In this paper, in the process of autonomous tracking and landing of the QUAV on the ground mobile platform, the method of "air-ground cooperation" is proposed aiming at the loss of target caused by sudden changes of the ground moving target position and the delay caused by information processing of the QUAV. The movement of the platform is estimated through the inertial sensors on the ground platform, and it is fused with the visual servo information of the QUAV to obtain an advance compensational control quantity. According to the motion state of the QUAV and the platform, the control strategies of horizontal position tracking, vertical landing and the adaptive dynamic adjustment of the control parameters are designed. The simulation results show that the proposed method improves the real-time performance and stability compared with the traditional visual servo-based method, and ensures the effective tracking and stable landing of the QUAV.
AB - Quadrotor Unmanned Aircraft Vehicle (QUAV) and ground mobile platform work together to accomplish tasks, which have significant application value in military and civilian fields. In this paper, in the process of autonomous tracking and landing of the QUAV on the ground mobile platform, the method of "air-ground cooperation" is proposed aiming at the loss of target caused by sudden changes of the ground moving target position and the delay caused by information processing of the QUAV. The movement of the platform is estimated through the inertial sensors on the ground platform, and it is fused with the visual servo information of the QUAV to obtain an advance compensational control quantity. According to the motion state of the QUAV and the platform, the control strategies of horizontal position tracking, vertical landing and the adaptive dynamic adjustment of the control parameters are designed. The simulation results show that the proposed method improves the real-time performance and stability compared with the traditional visual servo-based method, and ensures the effective tracking and stable landing of the QUAV.
KW - QUAV
KW - air-ground cooperation
KW - autonomous tracking and landing
KW - visual servo control
UR - http://www.scopus.com/inward/record.url?scp=85070612727&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2019.8781496
DO - 10.1109/ISIE.2019.8781496
M3 - Conference contribution
AN - SCOPUS:85070612727
T3 - IEEE International Symposium on Industrial Electronics
SP - 479
EP - 484
BT - Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th IEEE International Symposium on Industrial Electronics, ISIE 2019
Y2 - 12 June 2019 through 14 June 2019
ER -