农机化研究2024，Vol.46Issue(7)：21-26,6.
农业无人机动态降落方法研究
Dynamic Landing Method of Agricultural UAV
摘要
Abstract
In order to achieve high-speed and accurate landing of agricultural drones on ground mobile mechanical e-quipment(self-propelled fertilization mechanisms,agricultural unmanned vehicles,etc.).Based on the Aruco code,this paper designs a composite visual identification mark,and based on the visual identification mark,a dynamic landing con-trol strategy for agricultural drones is proposed.The landing strategy is mainly divided into two stages:the first stage is the identification identification stage,which uses the Aruco identification detection algorithm to identify the identification;the second stage is the stable tracking of the ground mobile mechanical equipment with the identification.The PnP algorithm is used to solve the current pose of the UAV,and the PD trajectory tracking algorithm is used to realize the tracking of the ground mobile platform by the agricultural UAV.In order to verify the effectiveness and accuracy of the control strategy,the open source simulation platform prometheus is used for simulation verification.Using Matlab for data analysis,the data results show that the control strategy can realize the autonomous landing of agricultural drones.关键词
农业无人机/动态自主降落/位姿估计算法/PID轨迹跟踪Key words
agricultural UAV/dynamic autonomous landing/pose estimation algorithm/PID track tracking分类
农业科技引用本文复制引用
万晓燕,石永康,赵玉花,李鹏..农业无人机动态降落方法研究[J].农机化研究,2024,46(7):21-26,6.基金项目
国家自然科学基金项目(51965056) （51965056）
自治区高层次人才项目(100400027) （100400027）
自治区高校科研计划项目(61021800081) （61021800081）
新疆大学科研启动项目(620312351) （620312351）
