Autonomous dynamic docking of UAV based on UWB-vision in GPS-denied environment |
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| Institution: | 1. Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China;2. Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai 201804, China;3. Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai, 201210, China;4. Institute for Advanced Study, Tongji University, Shanghai, 200092, China;5. School of Electrical and Electronic Engineering, Nanyang Technological University, 639798, Singapore;1. Federal University of São João del-Rei, 170 Frei Orlando, São João del-Rei |
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| Abstract: | This paper studies the autonomous docking between an Unmanned Aerial Vehicle (UAV) and a Mobile Platform (MP) based on UWB and vision sensors. To solve this problem, an integrated estimation and control scheme is proposed, which is divided into three phases: hovering, approaching and landing. In the hovering phase, the velocity of the MP and relative position between the MP and UAV are estimated by using geometric tools and Cayley-Menger determinant based on ultra-wideband distance measurements; in the approaching phase, a recursive least squares optimization algorithm with a forgetting factor is proposed, which uses distance, displacement and MP’s velocity to estimate the relative position between the UAV and MP. With the estimated relative position, UAV can approach MP until reaching a distance such that MP is within the field of view of UAV; in the landing phase, the UWB measurement value and visual perception attitude are integrated with the UAV on-board navigation sensor of the UAV to perform the precision landing. Simulation and experiment results verify the effectiveness and feasibility of the proposed integrated navigation scheme. |
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