Autonomous dynamic docking of UAV based on UWB-vision in GPS-denied environment

• المؤلفون الرئيسيون: Cheng, Cheng, Li, Xiuxian, Xie, Lihua, Li, Li
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2022
• الموضوعات: Engineering::Electrical and electronic engineering; Odometry; Precision Landing
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/163661
• المؤسسة: Nanyang Technological University

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...