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Alternative TitleResearch on Autonomous Take-Off and Landing Guidance System of Air-Ground Marsupial Robot Based on Local Relative Positioning
狄春雷1,2; 于利1,2; 潘思1,2; 谷丰1,2; 何玉庆1,2
Source Publication无人系统技术
Contribution Rank1
Funding Organization装备发展部共用技术项目(41412040202) ; 中国科学院轻型动力创新研究院项目(CXYJJ20-QN-06) ; 中国科学院青年创新促进会项目(2020001774)
Keyword空地协同机器人 子母机器人系统 自主释放与回收 相对定位 起降引导 降落控制


Other Abstract

Better adaptability to the environments and task can be achieved by combing the Unmanned Ground Vehicles(UGV)and Unmanned Aerial Vehicles(UAV)to compose marsupial robot system. However, autonomous takeoff and landing is a key technology of the marsupial robot system. Focusing on the problems of the marsupial robotic system, such as narrow take-off and landing space, dynamic motion and so on, a set of local positioning guidance system is designed by using the method of relatively high-precision positioning and information fusion. It provides accurate relative positioning information for the autonomous take-off and landing of the UAV. The control method of autonomous take-off and landing of UAV on the mobile robot platform is studied. The autonomous release and recovery of flying robot on the narrow ground mobile robot are realized. The test is carried out on the actual robot system to verify the effectiveness and feasibility of the system. Besides, the proposed technology and system can support the application of air-ground marsupial robot system and also can be used as reference for other accurate relative positioning application.

Document Type期刊论文
Corresponding Author狄春雷
Recommended Citation
GB/T 7714
狄春雷,于利,潘思,等. 基于局部相对定位的空地子母机器人自主收放引导系统与技术研究[J]. 无人系统技术,2020,3(6):68-78.
APA 狄春雷,于利,潘思,谷丰,&何玉庆.(2020).基于局部相对定位的空地子母机器人自主收放引导系统与技术研究.无人系统技术,3(6),68-78.
MLA 狄春雷,et al."基于局部相对定位的空地子母机器人自主收放引导系统与技术研究".无人系统技术 3.6(2020):68-78.
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