Packages delivery based on marker detection for UAVs

Kai Feng, Weixing Li, Shengyang Ge, Feng Pan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Citations (Scopus)

Abstract

Intelligent UAVs have great application prospects in the express delivery industry. However, efficient environmental awareness and self-control capabilities are must-have for UAVs. In order to solve this, this paper design an efficient delivery system combined with marker detection, which improve the delivery and landing accuracy. In this system, the embedded platform as upper-computer carries out the task of delivery marker detection and trajectory planning, the underlying flight controller completes the UAV attitude control, motion control and data interaction through communication protocol. Besides, the embedded platform simultaneously accomplishes the control commands to UAVs based on Robot Operating System (ROS) distributed architecture, which can be quickly transplanted and deployed. Aiming at the system's visual perception problem, this paper proposes a color detection algorithm based on color channel ratio to detect the markers' color quickly. The experiment used different colors of "mailbox" as the receiving device on the ground to guide UAV to package delivery. The UAVs carry the packages and search for the mailbox independently, and finally control the delivery servo to release package. After the delivery completed, the UAVs return to the take-off location and start the visual landing in conjunction with the detection of the landmark. Experimental results show that the proposed package delivery system can perform tasks quickly and efficiently.

Original languageEnglish
Title of host publicationProceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2094-2099
Number of pages6
ISBN (Electronic)9781728158549
DOIs
Publication statusPublished - Aug 2020
Event32nd Chinese Control and Decision Conference, CCDC 2020 - Hefei, China
Duration: 22 Aug 202024 Aug 2020

Publication series

NameProceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020

Conference

Conference32nd Chinese Control and Decision Conference, CCDC 2020
Country/TerritoryChina
CityHefei
Period22/08/2024/08/20

Keywords

  • Object Detection
  • Packages delivery
  • Robot Operating System (ROS)
  • UAVs

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