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Autonomous ballistic airdrop of objects from a small fixed-wing unmanned aerial vehicle
Autonomous Robots ( IF 3.5 ) Pub Date : 2020-01-30 , DOI: 10.1007/s10514-020-09902-3
Siri Gulaker Mathisen , Frederik Stendahl Leira , Håkon Hagen Helgesen , Kristoffer Gryte , Tor Arne Johansen

Autonomous airdrop is a useful basic operation for a fixed-wing unmanned aerial system. Being able to deliver an object to a known target position extends operational range without risking human lives, but is still limited to known delivery locations. If the fixed-wing unmanned aerial vehicle delivering the object could also recognize its target, the system would take one step further in the direction of autonomy. This paper presents a closed-loop autonomous delivery system that uses machine vision to identify a target marked with a distinct colour, calculates the geographical coordinates of the target location and plans a path to a release point, where it delivers the object. Experimental results present a visual target estimator with a mean error distance of 3.4 m and objects delivered with a mean error distance of 5.5 m.

中文翻译:

小型固定翼无人机的物体自主弹道空投

自主空投是固定翼无人机系统的一种有用的基本操作。能够将物体输送到已知的目标位置扩展了操作范围,而不会危及生命,但是仍然限于已知的输送位置。如果交付物体的固定翼无人飞行器也能够识别其目标,那么该系统将朝着自主的方向迈出一步。本文提出了一种闭环自主传递系统,该系统使用机器视觉来识别标有不同颜色的目标,计算目标位置的地理坐标,并规划到达释放点的路径,在该路径处将对象传递出去。实验结果提供了一个视觉目标估计器,其平均误差距离为3.4 m,交付的物体的平均误差距离为5.5 m。
更新日期:2020-01-30
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