机器人操作系统在树莓派4上的实现，用于四旋翼在ArUco标记上的自主着陆

Q3 Engineering

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI:10.18178/ijmerr.12.4.210-215

Atcha Daspan, Anukoon Nimsongprasert, Prathan Srichai, Pijirawuch Wiengchanda

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引用次数: 0

摘要

本文描述了机器人操作系统(ROS)的新颖设计和实现，用于自主四旋翼着陆ArUco标记应用。在Raspberry Pi 4配套电脑上，ROS是使用Ubuntu Mate 18.04设置的。然后，为了创建程序节点之间的通信，将ROS与自主着陆结合起来。在控制方法中，采用基于视觉定位的视觉惯性里程计(VIO)技术来估计三维姿态。为了计算指挥运动四旋翼飞行器在ArUco标志上着陆的命令控制，建立了自动着陆应用程序。试验中完成了25次着陆试验。计算无人机相机中心与ArUco标记中心之间的距离。结果表明，实验验证期间的平均距离精度为11.12 cm，标准差为3.67 cm。

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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Implementation of Robot Operating System in Raspberry Pi 4 for Autonomous Landing Quadrotor on ArUco Marker

—This article describes the novel design and implementation of the Robot Operating System (ROS) for the autonomous quadrotor landing on ArUco marker application. On a Raspberry Pi 4 companion computer, the ROS was set up using Ubuntu Mate 18.04. Then, to create communication between program nodes, ROS was put into practice together with autonomous landing. In the control approach, the Visual Inertial Odometry (VIO) technique, which uses vision-based localization, is employed to estimate the 3D posture. For computing the command control to direct movement quadrotor to landing on ArUco marker, the autolanding application is built. In experimental, 25 landing experiment trials were completed. The distance between the Drone’s camera’s center and the ArUco marker's center was calculated. In the results, the average distance accuracy during experimental validation was 11.12 cm, with a standard deviation of 3.67 cm.

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来源期刊

International Journal of Mechanical Engineering and Robotics Research Engineering-Mechanical Engineering

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： International Journal of Mechanical Engineering and Robotics Research. IJMERR is a scholarly peer-reviewed international scientific journal published bimonthly, focusing on theories, systems, methods, algorithms and applications in mechanical engineering and robotics. It provides a high profile, leading edge forum for academic researchers, industrial professionals, engineers, consultants, managers, educators and policy makers working in the field to contribute and disseminate innovative new work on Mechanical Engineering and Robotics Research.