A vision-based unmanned aircraft system for autonomous grasp transport

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A vision-based unmanned aircraft system for autonomous grasp transport
	Liu X(刘旭)2,3,4; He YQ(何玉庆)2,3,5; Chen B(陈博)2,3,4; Hou YQ(侯永强)1,2; Bi KY(毕开元)2,6; Li DC(李德才)2,3
	2019
会议日期	June 11-14, 2019
会议地点	Atlanta, GA, United states
页码	1186-1193
英文摘要	The progress in sensor technologies, computer capabilities and artificial intelligence has endowed the unmanned aircraft system (UAS) with more autonomous abilities. Motivated by the 6th International Unmanned Aerial Vehicle Innovation Grand Prix (UAVGP), a UAS with high degree of autonomy was developed to perform the mission of building a simulated tower using prefabricated components. According to the requirement of the competition, the UAS was designed and implemented from the following four parts: 1) navigation and control, 2) recognition and location, 3) grasp and construction, and 4) task planning and scheduling. Different levels of autonomy have been given to the UAS based on these parts. The system hardware was developed on a quadrotor platform by integrating various components, including sensors, computers, power and grasp mechanism. Software which included precise navigation, mission planning, real-time perception and control was implemented and integrated with the developed UAS hardware. The performance in the test environment and actual competition showed that the UAS could perform the mission without human intervention with high autonomy and reliability. This paper addresses the major components and development process of the UAS and describes its application to the practical mission.
产权排序	1
会议录	2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-0332-7
WOS记录号	WOS:000503382900148
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25627]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Liu X(刘旭)
作者单位	1.College of Information Science and Engineering, Northeastern University, Shenyang 110016, China; 2.Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China; 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China; 4.University of Chinese Academy of Sciences, Beijing; 100049, China; 5.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangzhou 511458, China; 6.Information and Control Engineering Faculty, Shenyang Jianzhu University, Shenyang 110016, China
推荐引用方式 GB/T 7714	Liu X,He YQ,Chen B,et al. A vision-based unmanned aircraft system for autonomous grasp transport[C]. 见:. Atlanta, GA, United states. June 11-14, 2019.