Guidance, Navigation and Control of an Unmanned Helicopter for Automatic Cargo Transportation
This paper presents an intelligent and robust guidance,navigation and control solution for a rotorcraft UAV to perform automatic cargo transportation between two moving platforms.Different from the conventional GPS/INS based navigation,the proposed UAV system also integrates a scanning laser range finder to robustly correct its altitude measurement and an advanced vision sub-system to detect the cargo loading and unloading positions.The whole system has been verified in the 2nd AVIC Cup – International UAV Innovation Grand Prix.The joint team of National University of Singapore and Nanjing University of Science and Technology have won the first place in the final round of the rotary-wing category competition.
UAV cargo transportation UAV vertical replenishment visual guidance
Fei Wang Peidong Liu Shiyu Zhao Ben M. Chen Swee King Phang Shupeng Lai Tong H. Lee Chenxiao Cai
Unmanned Systems Research Group,National University of Singapore;Temasek Laboratories,National Unive Unmanned Systems Research Group,National University of Singapore School of Automation,Nanjing University of Science and Technology
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1013-1020
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）