本文關(guān)鍵詞： 無(wú)人車(chē) 無(wú)人機(jī) 多機(jī)器人協(xié)作 動(dòng)態(tài)降落　出處：《哈爾濱工業(yè)大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：機(jī)器人技術(shù)的日益成熟使得地面機(jī)器人和空中小型無(wú)人機(jī)在現(xiàn)實(shí)中得到廣泛應(yīng)用。無(wú)人駕駛汽車(chē)可以幫助駕駛員從勞累的汽車(chē)駕駛中解脫出來(lái)。Google,百度和特斯拉汽車(chē)等大型科技公司在無(wú)人駕駛汽車(chē)領(lǐng)域越來(lái)越重視,在研發(fā)中投入了很多的人力物力。無(wú)人機(jī)在近幾年也得到了廣泛的推廣應(yīng)用,特別是在航拍,搜救等領(lǐng)域。各種不同構(gòu)造,不同應(yīng)用的機(jī)器人相互之間的協(xié)作顯得越來(lái)越重要。目前,由于無(wú)人機(jī)的計(jì)算處理數(shù)據(jù)的能力有限,針對(duì)無(wú)人機(jī)的應(yīng)用大多采取由地面人員操控的方法實(shí)現(xiàn)起飛降落和空中導(dǎo)航。無(wú)人車(chē)運(yùn)載能力強(qiáng),在搭載了高性能計(jì)算機(jī)的情況下計(jì)算處理能力可以滿足機(jī)器人的導(dǎo)航避障功能的實(shí)現(xiàn),所以無(wú)人車(chē)和無(wú)人機(jī)兩者之間的協(xié)作可以更好的發(fā)揮兩者的應(yīng)用范圍。本課題的研究?jī)?nèi)容為無(wú)人機(jī)通過(guò)攝像頭得到的圖像計(jì)算得到無(wú)人車(chē)的位置以及兩者之間的信息通信協(xié)作實(shí)現(xiàn)無(wú)人機(jī)穩(wěn)定的動(dòng)態(tài)跟蹤降落。本系統(tǒng)硬件部分由地面機(jī)器人和空中無(wú)人機(jī)部分組成,地面機(jī)器人上載有高性能的計(jì)算處理器,IMU,激光雷達(dá)等傳感器。無(wú)人機(jī)采用的是大疆的M100四旋翼無(wú)人機(jī),該飛機(jī)載有高清攝像頭,高精度云臺(tái),圖像傳輸器以及ARM四核處理器,具備一定能力的數(shù)據(jù)處理能力。本課題的機(jī)器人協(xié)作部分主要體現(xiàn)在無(wú)人機(jī)在與地面機(jī)器人的信息通信的基礎(chǔ)上實(shí)現(xiàn)動(dòng)態(tài)跟蹤降落。該系統(tǒng)的主要應(yīng)用方向?yàn)榫仍涂爝f運(yùn)輸,地面機(jī)器人具有很強(qiáng)的載重能力和無(wú)人機(jī)的在高空的飛行靈活性可以很好的滿足大規(guī)模和長(zhǎng)時(shí)間的搜救任務(wù)�？爝f投送采用地面機(jī)器人和空中機(jī)器人協(xié)作后解決了原來(lái)的地域限制,在無(wú)人機(jī)自動(dòng)完成起飛導(dǎo)航以及動(dòng)態(tài)降落的情況下可以更高效的完成快遞投送任務(wù)。本課題在自主構(gòu)建的無(wú)人車(chē)及無(wú)人機(jī)協(xié)作平臺(tái)上實(shí)現(xiàn)了所設(shè)計(jì)的控制方式,證明了在無(wú)人機(jī)和無(wú)人車(chē)協(xié)作的情況下,無(wú)人機(jī)可以穩(wěn)定快速的降落到無(wú)人車(chē)上,自動(dòng)化完成任務(wù)可以減少人員的操作,提升效率。并通過(guò)具體分析,說(shuō)明了將該設(shè)計(jì)推廣到不同機(jī)器人平臺(tái)上的必要性和可行性。
[Abstract]:With the development of robotics technology, ground-based robots and small aerial drones are widely used in reality. Driverless cars can help drivers to free themselves from exhausting driving. Google. Large technology companies such as Baidu and Tesla Motor have paid more and more attention to the field of driverless cars and invested a lot of manpower and material resources in the research and development. UAVs have also been widely used in recent years. Especially in the fields of aerial photography, search and rescue, the cooperation between robots with different structures and applications is becoming more and more important. At present, due to the limited ability of UAV to compute and process data. Most of the UAV applications are controlled by ground personnel to achieve take-off and landing and air navigation. In the case of high performance computer, the computing and processing ability can meet the requirements of navigation and obstacle avoidance of the robot. Therefore, the collaboration between UAV and UAV can play a better role in the application of both. The research content of this paper is that UAV can get the position of UAV and the position of UAV by the image obtained by camera. The hardware of this system is composed of ground robot and aerial UAV. The ground robot carries sensors such as IMU, Lidar and other high-performance computing processors. The drone uses Dajiang's M100 four-rotor UAV, which carries a high-definition camera and a high-precision cloud head. Image transmitter and ARM quad-core processor. The robot cooperation part of this thesis is mainly embodied in the dynamic tracking landing based on the information communication between UAV and ground robot. The main application direction of this system is to save. Aid and express delivery. The ground robot has the very strong load capacity and the UAV flying flexibility in the high altitude can satisfy the large-scale and the long time search and rescue mission well. Express delivery uses the ground robot and the aerial robot to cooperate to solve the problem. The original territorial restrictions. In the case of UAV take-off navigation and dynamic landing can be more efficient to complete the task of express delivery. This topic in the autonomous construction of unmanned vehicles and UAV cooperation platform to achieve the design of the control mode. It is proved that the UAV can land on the unmanned vehicle stably and quickly under the cooperation of UAV and UAV. The automatic completion of the task can reduce the operation of the personnel and improve the efficiency. The necessity and feasibility of extending the design to different robot platforms are illustrated.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：V279;TP242

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