紊流风条件下自主四旋翼飞机在运动平台上的动态着陆
Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions
摘要：
在移动平台上自主着陆对多旋翼飞行器提出了独特的挑战，包括需要精确定位平台、快速轨迹规划和精确/鲁棒控制。以前的工作研究了这个问题，但大多数缺乏明确的考虑风的干扰，这通常会导致缓慢下降到平台上。这项工作提出了一个完全自主的基于视觉的系统，通过紧密耦合定位，规划和控制来解决这些限制，从而实现在移动平台上快速准确的着陆。当四旋翼-平台距离较大时，通过扩展的卡尔曼滤波器利用模拟GPS测量值估计平台的位置、方向和速度;当平台在附近时，通过视觉基准系统估计平台的位置、方向和速度。着陆轨迹计算在线使用滚动时域控制，其次是边界层滑动控制器，提供跟踪性能保证，在存在未知的，但有界的干扰。为了提高性能，在控制器中考虑湍流条件的特性。着陆轨迹是快速、直接的，并且不需要像大多数最先进的方法那样在平台上方悬停。仿真和硬件实验验证了该方法的鲁棒性。
英文摘要：
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem but most lack explicit consideration of the wind disturbance, which typically leads to slow descents onto the platform. This work presents a fully autonomous vision-based system that addresses these limitations by tightly coupling the localization, planning, and control, thereby enabling fast and accurate landing on a moving platform. The platform's position, orientation, and velocity are estimated by an extended Kalman filter using simulated GPS measurements when the quadrotor-platform distance is large, and by a visual fiducial system when the platform is nearby. The landing trajectory is computed online using receding horizon control and is followed by a boundary layer sliding controller that provides tracking performance guarantees in the presence of unknown, but bounded, disturbances. To improve the performance, the characteristics of the turbulent conditions are accounted for in the controller. The landing trajectory is fast, direct, and does not require hovering over the platform, as is typical of most state-of-the-art approaches. Simulations and hardware experiments are presented to validate the robustness of the approach.
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