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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Biomimetic Design for Unmanned Aerial Vehicle Safe Landing in Hazardous Terrain
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Biomimetic Design for Unmanned Aerial Vehicle Safe Landing in Hazardous Terrain

机译：危险地形无人机安全着陆的仿生设计

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摘要

Unmanned aerial vehicles capable of hazardous terrain landing are desirable for intelligence collection. A crucial point is the landing gear's autonomous adaptation to the rough surface, which is especially difficult in an unknown and constrained environment. To enable this capability, this paper proposes a novel biomimetic system that ascertains terrain appearances like large obstacles and precipitous slope using a monocular camera and adjusts the mechatronics landing structure according to the terrain. A dynamic model including the ground effect is provided and a time-to-contact theory-based backstepping nonlinear controller is designed to reject uncertainty disturbances as well as implement a bio-inspired guidance strategy for soft landing in hazardous terrain. The mechatronic architecture and cascade control structure using custom-built unmanned air vehicle platform are presented. Experimental results and video footage demonstrate this biomimetic approach efficiently controls a vehicle successfully landing in an unknown and unstructured constrained environment.
机译：能够进行危险地形着陆的无人飞行器是情报收集所需要的。至关重要的一点是起落架能够自动适应粗糙表面，这在未知且受限的环境中尤其困难。为实现此功能，本文提出了一种新型的仿生系统，该系统可使用单筒摄像机确定大障碍物和陡坡等地形外观，并根据地形调整机电一体化着陆结构。提供了包括地面效应的动态模型，并设计了基于时间接触理论的后推非线性控制器，以消除不确定性干扰，并实施了以生物为灵感的制导策略，用于危险地形的软着陆。提出了使用定制无人机平台的机电一体化体系结构和级联控制结构。实验结果和录像显示，这种仿生方法可以有效地控制车辆成功降落在未知且不受结构限制的环境中。

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