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题名: Development of an unmanned helicopter automatic barrels transportation system
作者: Wu C(吴冲); Qi JT(齐俊桐); Song DL(宋大雷); Qi X(齐欣); Lin, Tianyu; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
会议日期: May 26-30, 2015
会议地点: Seattle, WA, United states
会议录: Proceedings - IEEE International Conference on Robotics and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 4686-4691
收录类别: EI ; CPCI(ISTP)
ISSN号: 1050-4729
ISBN号: 978-1-4799-6923-4
摘要: In the 2nd International Unmanned Aerial Vehicle (UAV) Innovation Grand Prix (UAVGP) sponsored by Aviation Industry Corporation of China (AVIC), an autonomous barrel transportation mission was proposed for Rotary-wing UAV (RUAV) which aims at validating the feasibility of marine vertical replenishment by RUAVs. The RUAV was supposed to track the movable platform, pick up barrels on the supplier platform, stack barrels on the replenishment platform, take off and land autonomously without any human interference. The final score was determined based on the mission completion time and the stacking accuracy. The main challenges involved in this mission include attitude stabilizing with varying payload, accurate movable platform tracking and task-scheduling. An unmanned helicopter (UH) automatic barrels transportation system was established by our team, and the navigation system, control system and task scheduling system will be detailed in this paper, along with the flight tests before and in the competition. The system's performance has been verified in the competition and won the first prize finally.
语种: 英语
产权排序: 1
WOS记录号: WOS:000370974904092
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/16866
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Wu C,Qi JT,Song DL,et al. Development of an unmanned helicopter automatic barrels transportation system[C]. 见:2015 IEEE International Conference on Robotics and Automation, ICRA 2015. Seattle, WA, United states. May 26-30, 2015.
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文件名: Development of an unmanned helicopter automatic barrels transportation system.pdf
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