發(fā)布時(shí)間：2018-11-19 10:05

【摘要】：近年來野外移動(dòng)機(jī)器人獲得了巨大的發(fā)展,以無人機(jī)、無人船、無人車為代表的無人移動(dòng)平臺(tái)自主控制系統(tǒng)不斷成熟,移動(dòng)機(jī)器人行為規(guī)劃的發(fā)展也日臻完善。移動(dòng)機(jī)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(jī)因體積小重量輕移動(dòng)速度快,便于攜帶,擁有寬廣的視角而在各個(gè)領(lǐng)域得到了廣泛應(yīng)用。但其缺點(diǎn)也很突出,如續(xù)航能力差,一般多旋翼無人機(jī)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(fù)載大,續(xù)航時(shí)間長(zhǎng),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(jī)器人系統(tǒng)的概念,以期通過無人機(jī)的廣域環(huán)境感知和機(jī)動(dòng)能力與水面機(jī)器人的局部環(huán)境精細(xì)感知和長(zhǎng)續(xù)航能力融合,提高整個(gè)系統(tǒng)在復(fù)雜環(huán)境中的感知能力和自主行為性能。由于無人機(jī)需要進(jìn)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(jī)器人系統(tǒng)中,不可或缺的也是至關(guān)重要的一環(huán)。只有在自主起降能夠順利完成的基礎(chǔ)之上,后續(xù)的環(huán)境感知,空中水面協(xié)作才會(huì)成為可能。本文針對(duì)無人機(jī)自主起降所面臨的問題,如無人機(jī)定位,無人機(jī)與無人船通信,無人機(jī)對(duì)無人船的跟蹤,自主起降控制策略等問題,設(shè)計(jì)出了一套起降的解決方案。論文主要包括以下四個(gè)部分:(1)首先無人機(jī)定位方式采用差分GPS進(jìn)行定位,同時(shí)通過卡爾曼濾波融合了陀螺儀、加速度計(jì)、電子羅盤等傳感器信息提高無人機(jī)定位精度和頻率。介紹了使用四元數(shù)對(duì)無人機(jī)的姿態(tài)解算的方法,以及PID控制器來實(shí)現(xiàn)位置控制。(2)完成無人機(jī)與無人船通信協(xié)議,包括無人船對(duì)無人機(jī)的控制指令,無人機(jī)與無人船位置和姿態(tài)信息交換。(3)設(shè)計(jì)出了一套起降輔助機(jī)構(gòu)。該機(jī)構(gòu)由兩個(gè)“魚叉”組成,安裝在兩側(cè)起落架上,采用被動(dòng)錨固方式,簡(jiǎn)單可靠,可以重復(fù)多次使用,滿足了無人機(jī)在無人船上進(jìn)行多次起降需要。(4)同時(shí)設(shè)計(jì)了無人機(jī)對(duì)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(xué)位授予單位】：沈陽(yáng)理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：V249;TP242

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本文編號(hào)：2341966