GPS退化环境下基于视觉的多无人机协同编队控制
Vision-Based Leader-Follower Formation Control for Cooperative UAVs in GPS-Degraded Environments
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中文总结 AI 辅助
本文提出一种基于视觉的多无人机协同编队框架，通过YOLO检测器结合RGB-D相机实现领无人机实时定位，在GPS退化环境下可维持稳定编队，为现实应用提供实用基础。
中文摘要 AI 辅助
多无人机系统的协同需要可靠的相对感知，以便在绝对定位传感器退化或失效时，跟随无人机仍能维持编队并安全继续任务。本文提出一种运行在跟随无人机上的基于视觉的协同编队框架，该框架使用前置RGB-D相机实时检测、跟踪并定位领无人机。一种轻量型YOLO检测器在专用无人机数据集上训练后被部署在机载平台，用于预测领无人机的边界框，随后通过针孔相机模型将这些边界框与深度信息融合，以估计领无人机的相对位姿。这些估计值为领-随无人机位置控制器提供输入，也可在GPS或外部定位不可用时作为备份。该框架以一组ROS节点的形式实现，并在基于XTDrone构建的物理仿真多无人机系统中进行评估，仿真中包含传感器噪声和通信丢包。我们在标称条件下以及定位传感器仿真故障下，评估了检测精度、运行时间和编队保持误差。结果表明，所提框架以合理的计算成本维持稳定的领-随无人机编队，并为将基于视觉的协同编队控制扩展到现实世界多无人机系统提供了实用基础。
英文摘要
Cooperation in multi-UAV systems requires reliable relative perception so that follower vehicles can maintain formation and continue their mission safely even when absolute positioning sensors degrade or fail. This paper presents a vision-based cooperative formation framework running on a follower UAV that uses a front-facing RGB-D camera to detect, track, and localize a leader UAV in real-time. A lightweight YOLO-based detector is trained on a dedicated drone dataset and deployed onboard to predict leader bounding boxes, which are then fused with depth information via a pinhole camera model to estimate the leader's relative pose. These estimates provide a leader-follower position controller and can also be used as a backup when GPS or external localization is unavailable. This framework is implemented as a set of ROS nodes and evaluated in a physics-based multi-UAV simulation built on XTDrone, with sensor noise and communication dropouts. We evaluate detection accuracy, runtime, and formation-keeping error under nominal conditions and under simulated failures of the positioning sensors. The results show that the proposed framework maintains stable leader-follower formations with reasonable computational cost and provides a practical basis for extending vision-based cooperative formation control to real-world multi-UAV systems.
发表机构
- Autonomous Robotics Systems Limited（自主机器人系统有限公司）
- University of Hyderabad（海得拉巴大学）
- Ideabytes Software India Private Limited（Ideabytes软件印度私人有限公司）
- Georgia Institute of Technology（佐治亚理工学院）
- Tata Consultancy Services（塔塔咨询服务公司）
- University of Malaya（马来亚大学）
机构由 AI 辅助整理，请以论文原文为准。
