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A vision-based unmanned aircraft system for autonomous grasp transport
Liu X(刘旭)1,2,3; He YQ(何玉庆)1,2,4; Chen B(陈博)1,2,3; Hou YQ(侯永强)1,5; Bi, Kaiyuan1,6; Li DC(李德才)1,2
Department机器人学研究室
Conference Name2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
Conference DateJune 11-14, 2019
Conference PlaceAtlanta, GA, United states
Source Publication2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages1186-1193
Indexed ByEI
EI Accession number20193707413938
ISSN978-1-7281-0332-7
AbstractThe progress in sensor technologies, computer capabilities and artificial intelligence has endowed the unmanned aircraft system (UAS) with more autonomous abilities. Motivated by the 6th International Unmanned Aerial Vehicle Innovation Grand Prix (UAVGP), a UAS with high degree of autonomy was developed to perform the mission of building a simulated tower using prefabricated components. According to the requirement of the competition, the UAS was designed and implemented from the following four parts: 1) navigation and control, 2) recognition and location, 3) grasp and construction, and 4) task planning and scheduling. Different levels of autonomy have been given to the UAS based on these parts. The system hardware was developed on a quadrotor platform by integrating various components, including sensors, computers, power and grasp mechanism. Software which included precise navigation, mission planning, real-time perception and control was implemented and integrated with the developed UAS hardware. The performance in the test environment and actual competition showed that the UAS could perform the mission without human intervention with high autonomy and reliability. This paper addresses the major components and development process of the UAS and describes its application to the practical mission.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25627
Collection机器人学研究室
Corresponding AuthorLiu X(刘旭)
Affiliation1.Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China;
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China;
3.University of Chinese Academy of Sciences, Beijing; 100049, China;
4.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangzhou 511458, China;
5.College of Information Science and Engineering, Northeastern University, Shenyang 110016, China;
6.Information and Control Engineering Faculty, Shenyang Jianzhu University, Shenyang 110016, China
Recommended Citation
GB/T 7714
Liu X,He YQ,Chen B,et al. A vision-based unmanned aircraft system for autonomous grasp transport[C]. New York:IEEE,2019:1186-1193.
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