面向空中—水面協(xié)作的自主起降系統(tǒng)設計及控制
發(fā)布時間：2018-11-19 10:05
【摘要】：近年來野外移動機器人獲得了巨大的發(fā)展,以無人機、無人船、無人車為代表的無人移動平臺自主控制系統(tǒng)不斷成熟,移動機器人行為規(guī)劃的發(fā)展也日臻完善。移動機器人研究所面臨的主要問題是環(huán)境感知能力的欠缺。小型無人機因體積小重量輕移動速度快,便于攜帶,擁有寬廣的視角而在各個領域得到了廣泛應用。但其缺點也很突出,如續(xù)航能力差,一般多旋翼無人機只能持續(xù)飛行20分鐘左右,環(huán)境感知精度低,無法獲取局部精確的環(huán)境信息。無人船負載大,續(xù)航時間長,可以安裝多傳感器以獲取精確的局部信息,但由于其傳感器安裝位置較低很難獲取全局環(huán)境信息。因此,我們提來空中-水面子母機器人系統(tǒng)的概念,以期通過無人機的廣域環(huán)境感知和機動能力與水面機器人的局部環(huán)境精細感知和長續(xù)航能力融合,提高整個系統(tǒng)在復雜環(huán)境中的感知能力和自主行為性能。由于無人機需要進行多次在無人船上自主起降,因此自主起降系統(tǒng)在子母機器人系統(tǒng)中,不可或缺的也是至關重要的一環(huán)。只有在自主起降能夠順利完成的基礎之上,后續(xù)的環(huán)境感知,空中水面協(xié)作才會成為可能。本文針對無人機自主起降所面臨的問題,如無人機定位,無人機與無人船通信,無人機對無人船的跟蹤,自主起降控制策略等問題,設計出了一套起降的解決方案。論文主要包括以下四個部分:(1)首先無人機定位方式采用差分GPS進行定位,同時通過卡爾曼濾波融合了陀螺儀、加速度計、電子羅盤等傳感器信息提高無人機定位精度和頻率。介紹了使用四元數(shù)對無人機的姿態(tài)解算的方法,以及PID控制器來實現(xiàn)位置控制。(2)完成無人機與無人船通信協(xié)議,包括無人船對無人機的控制指令,無人機與無人船位置和姿態(tài)信息交換。(3)設計出了一套起降輔助機構。該機構由兩個“魚叉”組成,安裝在兩側起落架上,采用被動錨固方式,簡單可靠,可以重復多次使用,滿足了無人機在無人船上進行多次起降需要。(4)同時設計了無人機對無人船的跟蹤控制算法,完成了部分協(xié)作功能。
[Abstract]:In recent years, the field mobile robot has made great progress. The autonomous control system of unmanned mobile platform represented by unmanned aerial vehicle, unmanned vessel and unmanned vehicle is becoming more and more mature, and the behavior planning of mobile robot is becoming more and more perfect. The main problem in mobile robot research is the lack of environmental perception. Small UAVs have been widely used in many fields because of their high speed, easy to carry and wide angle of view. But its shortcomings are also very prominent, such as poor endurance, the general multi-rotor UAV can only fly for about 20 minutes, the environmental perception accuracy is low, unable to obtain local accurate environmental information. Because of its heavy load and long duration, unmanned ship can install multiple sensors to obtain accurate local information, but it is difficult to obtain global environmental information because of its low sensor installation position. Therefore, we bring forward the concept of airborne and surface subrobot system, which is expected to combine the wide-area environmental perception and maneuverability of UAV with the local environment fine perception and long-lasting capability of surface robot. Improve the perception and autonomous behavior performance of the whole system in complex environment. Since unmanned aerial vehicles (UAVs) need to take off and land independently on unmanned ships many times, the autonomous take-off and landing system is an indispensable and crucial part in the sub-mother robot system. Only on the basis that autonomous take-off and landing can be successfully completed, can air surface cooperation become possible with subsequent environmental awareness. Aiming at the problems of UAV's autonomous take-off and landing, such as UAV positioning, communication between UAV and UAV, UAV tracking of UAV, autonomous take-off and landing control strategy, a set of solution is designed in this paper. The thesis mainly includes the following four parts: (1) firstly, differential GPS is used to locate the UAV, and the gyroscopes and accelerometers are fused by Kalman filter. Electronic compass and other sensor information to improve UAV positioning accuracy and frequency. This paper introduces the method of attitude calculation using quaternion pair UAV and the PID controller to realize position control. (2) the communication protocol between UAV and UAV is completed, including the control instruction of UAV. The position and attitude information of UAV and unmanned vessel are exchanged. (3) A set of auxiliary mechanism for take-off and landing is designed. The mechanism is composed of two harpoons and is mounted on both sides of the landing gear. It adopts passive anchoring, is simple and reliable, and can be used repeatedly. It can meet the need of UAV to take off and land on unmanned ship many times. (4) the tracking control algorithm of UAV to unmanned ship is designed at the same time, and part of the cooperative function is completed.
【學位授予單位】：沈陽理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：V249;TP242
本文編號：2341966
[Abstract]:In recent years, the field mobile robot has made great progress. The autonomous control system of unmanned mobile platform represented by unmanned aerial vehicle, unmanned vessel and unmanned vehicle is becoming more and more mature, and the behavior planning of mobile robot is becoming more and more perfect. The main problem in mobile robot research is the lack of environmental perception. Small UAVs have been widely used in many fields because of their high speed, easy to carry and wide angle of view. But its shortcomings are also very prominent, such as poor endurance, the general multi-rotor UAV can only fly for about 20 minutes, the environmental perception accuracy is low, unable to obtain local accurate environmental information. Because of its heavy load and long duration, unmanned ship can install multiple sensors to obtain accurate local information, but it is difficult to obtain global environmental information because of its low sensor installation position. Therefore, we bring forward the concept of airborne and surface subrobot system, which is expected to combine the wide-area environmental perception and maneuverability of UAV with the local environment fine perception and long-lasting capability of surface robot. Improve the perception and autonomous behavior performance of the whole system in complex environment. Since unmanned aerial vehicles (UAVs) need to take off and land independently on unmanned ships many times, the autonomous take-off and landing system is an indispensable and crucial part in the sub-mother robot system. Only on the basis that autonomous take-off and landing can be successfully completed, can air surface cooperation become possible with subsequent environmental awareness. Aiming at the problems of UAV's autonomous take-off and landing, such as UAV positioning, communication between UAV and UAV, UAV tracking of UAV, autonomous take-off and landing control strategy, a set of solution is designed in this paper. The thesis mainly includes the following four parts: (1) firstly, differential GPS is used to locate the UAV, and the gyroscopes and accelerometers are fused by Kalman filter. Electronic compass and other sensor information to improve UAV positioning accuracy and frequency. This paper introduces the method of attitude calculation using quaternion pair UAV and the PID controller to realize position control. (2) the communication protocol between UAV and UAV is completed, including the control instruction of UAV. The position and attitude information of UAV and unmanned vessel are exchanged. (3) A set of auxiliary mechanism for take-off and landing is designed. The mechanism is composed of two harpoons and is mounted on both sides of the landing gear. It adopts passive anchoring, is simple and reliable, and can be used repeatedly. It can meet the need of UAV to take off and land on unmanned ship many times. (4) the tracking control algorithm of UAV to unmanned ship is designed at the same time, and part of the cooperative function is completed.
【學位授予單位】：沈陽理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：V249;TP242
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，本文編號：2341966
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