论文标题
带有基准标记的自主无人机登陆和用于主动跟踪的万向式摄像头
Autonomous Drone Landing with Fiducial Markers and a Gimbal-Mounted Camera for Active Tracking
论文作者
论文摘要
精密着陆是自动无人机飞行中的剩余挑战。基金标记为无人机定位着陆垫并自主执行精确着陆提供了一种计算廉价的方式。但是，该领域的大多数工作都取决于刚性安装或向下的摄像头，这限制了无人机检测标记的能力。我们提出了一种自主降落的方法，该方法使用带有饰品的摄像机来快速搜索着陆垫，通过在上下倾斜相机，并在进近和着陆期间将相机不断地瞄准降落垫，以快速寻找着陆垫。该方法证明了在没有人类干预的物理无人机上，在5个测试的基准系统中有4个表明了成功的搜索，跟踪和着陆。每个基准制度，我们介绍了每次成功着陆后从无人机到降落垫中心的距离的分布。我们还展示了登陆过程中每个通道的飞行轨迹，标记跟踪性能和控制输出的代表性示例。最后，我们讨论了每个系统所基于的定性优势和缺点。
Precision landing is a remaining challenge in autonomous drone flight. Fiducial markers provide a computationally cheap way for a drone to locate a landing pad and autonomously execute precision landings. However, most work in this field depends on either rigidly-mounted or downward-facing cameras which restrict the drone's ability to detect the marker. We present a method of autonomous landing that uses a gimbal-mounted camera to quickly search for the landing pad by simply spinning in place while tilting the camera up and down, and to continually aim the camera at the landing pad during approach and landing. This method demonstrates successful search, tracking, and landing with 4 of 5 tested fiducial systems on a physical drone with no human intervention. Per fiducial system, we present the distributions of the distances from the drone to the center of the landing pad after each successful landing. We also show representative examples of flight trajectories, marker tracking performance, and control outputs for each channel during the landing. Finally, we discuss qualitative strengths and weaknesses underlying each system.
