Abstract
This article describes the development of an unmanned aerial vehicle system that had a remarkable performance in the 6th International Unmanned Aerial Vehicle Innovation Grand Prix, which was held on November 2–4, 2018, in Anji, China. The main mission of the competition was to build a simulated tower using prefabricated components by an unmanned rotorcraft, which could be decomposed into the following four subtasks: (1) navigation and control, (2) recognition and location, (3) grasp and construction, and (4) task planning and scheduling. All the tasks were required to perform autonomously without human intervention. According to the requirement of the mission, the unmanned aerial vehicle system was designed and implemented with high degree of autonomy and reliability, whose hardware was developed on a quadrotor platform by integrating various system components, including sensors, computers, power, and grasp mechanism. Software algorithms were exploited, and executable computer codes were implemented and integrated with the developed unmanned aerial vehicle hardware system. Integration of the two provided onboard intelligence to complete the mission. This article addresses the major components and development process of the unmanned aerial vehicle system and describes its applications to the competition mission.
Highlights
With the development of computer capabilities and artificial intelligence, unmanned vehicle systems technology have been considerably improved over the past several decades
Among various types of unmanned vehicle system, unmanned aerial vehicles (UAVs) or unmanned aircraft systems (UASs) have attracted a great deal of interest for their capacities to execute dangerous and difficult missions ranging from military to civil application in the air environment.[1,2]
In order to keep up with the trend of research, the Unmanned Aerial Vehicle Innovation Grand Prix (UAVGP) hosted by Aviation Industry Corporation of China was held on November 2–4, 2018, in Anji, China
Summary
With the development of computer capabilities and artificial intelligence, unmanned vehicle systems technology have been considerably improved over the past several decades. Intermediate level of autonomy needed the help of external perception sensors and mechanical structure to perform more complex operations, including target recognition and positioning, component capture and placement. Manual intervention was prohibited throughout the process, which made the onboard intelligence be a key factor to perform the mission These mission tasks were designed in consideration of the potential realworld applications of UAVs, for example, the UAV transport of express industry. UAV: unmanned aerial vehicle; IMU: inertial measurement unit; DGPS: differential GPS. Distributed executable programs were developed upon different computers to provide realtime perception, precise navigation, control, and mission planning by integrating the measurements form the above sensors. The conclusion of the study was illustrated in the fifth section, along with some discussions on related technologies
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