母子无人机-无人车系统的协同任务集成制导与控制
Integrated Guidance and Control of a Mother-Child UAV-UGV System for Cooperative Missions
- Indian Institute of Technology Hyderabad（印度理工学院海得拉巴分校）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出并现场验证了母子无人机-无人车系统的协同框架，集成多种控制方法实现子机对悬停母舰的自主空中回收，20次任务中成功率达85%。
AI中文摘要：
小型多旋翼无人机自主降落到悬停的多旋翼母舰上，与降落到地面或舰船平台不同，因为回收面本身是一个主动控制、推力受限的飞行器。本文提出了一个经过现场验证的异构漫游车-母舰-子机系统自主框架，用于执行漫游车监督、母舰转运、子机部署与出击、自主返航、空中回收和同步下降。回收栈结合了加加速度有界参考生成、扰动观测器增强的平面跟踪、可行性感知的垂直控制、用于相对垂直几何的基于离散时间屏障的安全滤波器，以及通信感知的母舰状态预测。其贡献在于将这些方法协调地系统级集成，以实现对悬停多旋翼的回收，并进行了全尺寸户外验证。该框架在PX4-ROS 2架构上实现，使用支持RTK的GNSS、IMU和气压计融合，母舰侧1D激光雷达仅用作辅助近接触提示。整个测试过程中保持了RTK固定定位。在20次户外协同任务中，17次成功完成了部署、出击和回收，观测到的任务成功率为85%。对于成功回收，平均终端对准时间为6.3秒，接受时平均平面对准误差为0.18米，最大终端平面偏差为0.32米（在0.40米捕获半径内），耦合下降期间记录的最小相对垂直间隔为0.41米。母舰平面站位保持RMS误差为0.25米。三次失败试验发生在不同任务阶段，并分别进行了分析。结果表明，在所测试的户外操作包线内，实用的自主空中回收是可行的。
英文摘要：
Autonomous recovery of a small multirotor onto a hovering multirotor carrier differs from recovery onto ground or shipborne platforms because the recovery surface is itself an actively controlled, thrust-limited aerial vehicle. This paper presents a field-validated autonomy framework for a heterogeneous rover-mothership-child system executing rover supervision, mothership transit, child deployment and sortie, autonomous return, aerial recovery, and synchronized descent. The recovery stack combines jerk-bounded reference generation, disturbance-observer-augmented planar tracking, feasibility-aware vertical control, a discrete-time barrier-based safety filter for relative vertical geometry, and communication-aware carrier-state prediction. The contribution is the coordinated system-level integration of these methods for recovery onto a hovering multirotor and its full-scale outdoor validation. The framework is implemented on a PX4-ROS 2 architecture using RTK-enabled GNSS, IMU, and barometric fusion, with mothership-side 1D lidar used only as an auxiliary near-contact cue. RTK-fixed positioning was maintained throughout testing. Across 20 outdoor cooperative missions, 17 successfully completed deployment, sortie, and recovery, giving an observed mission success rate of 85%. For successful recoveries, mean terminal-alignment time was 6.3 s, mean planar alignment error at acceptance was 0.18 m, maximum terminal planar deviation was 0.32 m within a 0.40 m capture radius, and minimum logged relative vertical separation during coupled descent was 0.41 m. Mothership planar station-keeping RMS error was 0.25 m. The three unsuccessful trials occurred at different mission stages and are analyzed separately. Results demonstrate practical autonomous aerial recovery within the tested outdoor operating envelope.
