Design of air-ground cooperative landing platform and autonomous landing strategy

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-03-22 DOI:10.1177/09596518241237568

Liangang Song, Hong Lin, Guanhua Fu, Yehao Chen, Chenxiao Cai

引用次数: 0

Abstract

This paper studies innovative design for landing platform design and autonomous landing strategies for unmanned aerial vehicles (UAVs). First, a self-leveling landing platform on a mobile unmanned ground vehicle (UGV) is designed, which can be maintained even when the UGV moves on uneven terrain. Then, with the cooperation of the UAV and the UGV, they are controlled to reach the same velocity in the horizontal direction, which helps avoid the UAV’s rollover caused by horizontal velocity difference. Meanwhile, a buffering strategy is designed to reduce the vertical velocity difference, which helps avoid a hard landing. Finally, a combined landing code is designed to improve the accuracy and success rate of UAV landing. Experiments are carried out to demonstrate the effectiveness of the proposed design of a self-leveling platform and autonomous landing strategies.

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设计空地协同着陆平台和自主着陆策略

本文研究了无人驾驶飞行器（UAV）着陆平台设计和自主着陆策略的创新设计。首先，在移动式无人地面飞行器（UGV）上设计了一个自调平着陆平台，即使 UGV 在不平坦的地形上移动，该平台也能保持水平。然后，在 UAV 和 UGV 的配合下，控制它们在水平方向上达到相同的速度，这有助于避免 UAV 因水平速度差而发生侧翻。同时，设计缓冲策略以减少垂直方向的速度差，从而避免硬着陆。最后，设计了一套组合着陆代码，以提高无人机着陆的准确性和成功率。实验证明了所提出的自调平平台设计和自主着陆策略的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.