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Development of an autonomous object transfer system by an unmanned aerial vehicle based on binocular vision
Liu X(刘旭); Chen B(陈博); He YQ(何玉庆); Li DC(李德才)
Department机器人学研究室
Corresponding AuthorLiu, Xu(liuxu1@sia.cn)
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8814
2020
Volume17Issue:1Pages:1-17
Indexed BySCI ; EI
EI Accession number20201208313980
WOS IDWOS:000517546600001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of ChinaNational Natural Science Foundation of China [U1508208, U1608253]
KeywordUnmanned aircraft system vision-based perception navigation and control autonomous task
Abstract

This article describes the development of an unmanned aerial vehicle system that had a remarkable performance in the 6th International Unmanned Aerial Vehicle Innovation Grand Prix, which was held on November 2-4, 2018, in Anji, China. The main mission of the competition was to build a simulated tower using prefabricated components by an unmanned rotorcraft, which could be decomposed into the following four subtasks: (1) navigation and control, (2) recognition and location, (3) grasp and construction, and (4) task planning and scheduling. All the tasks were required to perform autonomously without human intervention. According to the requirement of the mission, the unmanned aerial vehicle system was designed and implemented with high degree of autonomy and reliability, whose hardware was developed on a quadrotor platform by integrating various system components, including sensors, computers, power, and grasp mechanism. Software algorithms were exploited, and executable computer codes were implemented and integrated with the developed unmanned aerial vehicle hardware system. Integration of the two provided onboard intelligence to complete the mission. This article addresses the major components and development process of the unmanned aerial vehicle system and describes its applications to the competition mission.

Language英语
WOS SubjectRobotics
WOS KeywordFEATURES
WOS Research AreaRobotics
Funding ProjectNational Natural Science Foundation of China[U1508208] ; National Natural Science Foundation of China[U1608253]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26443
Collection机器人学研究室
Corresponding AuthorLiu X(刘旭)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
3.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Liu X,Chen B,He YQ,et al. Development of an autonomous object transfer system by an unmanned aerial vehicle based on binocular vision[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2020,17(1):1-17.
APA Liu X,Chen B,He YQ,&Li DC.(2020).Development of an autonomous object transfer system by an unmanned aerial vehicle based on binocular vision.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,17(1),1-17.
MLA Liu X,et al."Development of an autonomous object transfer system by an unmanned aerial vehicle based on binocular vision".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 17.1(2020):1-17.
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