Autonomous landing is a capability that is essential to achieve the full potential of multi-rotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and resource-intensive; hence, in order to ensure both a sound design process and a safe deployment, simulations are required before implementing a physical prototype. This paper presents the development of a monocular visual system, using a software-in-the-loop methodology, that autonomously and efficiently lands a quadcopter drone on a predefined landing pad, thus reducing the risks of the physical testing stage. In addition to ensuring that the autonomous landing system as a whole fulfils the design requirements using a Gazebo-based simulation, our approach provides a tool for safe parameter tuning and design testing prior to physical implementation. Finally, the proposed monocular vision-only approach to landing pad tracking made it possible to effectively implement the system in an F450 quadcopter drone with the standard computational capabilities of an Odroid XU4 embedded processor.
翻译:自动着陆是在许多社会和工业应用中实现多机器人无人驾驶飞机全部潜力所必不可少的一种能力,在物理平台上实施和测试这种能力是风险和资源密集型的;因此,为了确保设计过程健全和安全部署,在实施物理原型之前需要进行模拟。本文件介绍了利用软件环形方法开发单眼视系统的情况,这种系统可自主和高效地在预先定义的着陆垫上放置一架四肢无人驾驶飞机,从而减少物理测试阶段的风险。除了确保自动着陆系统作为一个整体使用基于Gazebo的模拟满足设计要求外,我们的方法还提供了一个工具,用于在实际执行之前进行安全参数调整和设计测试。最后,拟议的单眼跟踪着陆板的单眼方法使得有可能在具有Odroid XU4嵌入式处理器标准计算能力的F450四肢式无人驾驶飞机中有效实施该系统。