SLAP：基于Slapband的自主着陆无人机及其故障恢复机制
SLAP: Slapband-based Autonomous Perching Drone with Failure Recovery for Vertical Tree Trunks
AI总结：
SLAP是一种基于Slapband的自主着陆无人机系统，能够安全着陆垂直树干并有效应对着陆故障。
摘要：
着陆使无人 aerial 车辆（UAVs）能够减少能耗，保持锚定以进行表面采样操作，或稳定地对其周围环境进行勘察。以往在垂直表面着陆的努力主要集中在轻量机械设计解决方案上，系统层面的整合相对较少。此外，垂直表面的着陆策略通常需要高速、激进的着陆操作，这对搭载敏感电子设备的勘察无人机来说是危险的。本文提出了适用于较大无人机的着陆方法，该方法既能温和地着陆在垂直树干上，又能对着陆故障进行反应和恢复。本系统称为SLAP，包括基于视觉的着陆点检测器、基于IMU（惯性测量单元）的着陆故障检测器、用于软着陆的姿态控制器、光学近距离检测系统，以及由商用Slapband制成的快速主动弹性抓取器和微刺。我们在此方法上验证了一个修改后的1.2 kg商用四旋翼无人机，进行了组件和系统分析。初步的人工参与自主室内飞行实验在20次飞行中实现了75%的着陆成功率，在2次诱导故障飞行中实现了100%的着陆故障恢复。
英文摘要：
Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts for perching on vertical surfaces have predominantly focused on lightweight mechanical design solutions with relatively scant system-level integration. Furthermore, perching strategies for vertical surfaces commonly require high-speed, aggressive landing operations that are dangerous for a surveyor drone with sensitive electronics onboard. This work presents the preliminary investigation of a perching approach suitable for larger drones that both gently perches on vertical tree trunks and reacts and recovers from perch failures. The system in this work, called SLAP, consists of vision-based perch site detector, an IMU (inertial-measurement-unit)-based perch failure detector, an attitude controller for soft perching, an optical close-range detection system, and a fast active elastic gripper with microspines made from commercially-available slapbands. We validated this approach on a modified 1.2 kg commercial quadrotor with component and system analysis. Initial human-in-the-loop autonomous indoor flight experiments achieved a 75% perch success rate on a real oak tree segment across 20 flights, and 100% perch failure recovery across 2 flights with induced failures.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
