中南大学学报（自然科学版）2026，Vol.57Issue(7)：2980-2991,12.DOI:10.11817/j.issn.1672-7207.2026.07.009
轻量级深度感知引导的模块化微型无人机主动对接
Active docking of modular micro-UAVs guided by lightweight depth perception
摘要
Abstract
Aiming at the constraints of limited payload capacity and limited onboard computational resources in modular micro air vehicles(MAVs),a visual servoing-based active docking control method was proposed by using a multi-zone time-of-flight(ToF)sensor.Firstly,based on the decoupled dynamic model of a quadrotor UAV,a position-attitude decoupled four-loop cascaded PID low-level controller was designed.Secondly,the ranging principle and characteristics of the VL53L5CX multi-zone ToF sensor were systematically analyzed and tested.Thirdly,a lightweight target recognition algorithm based on region-growing clustering and a decision-tree control strategy based on region partitioning were designed.Finally,the proposed method was validated in both a PyBullet simulation environment and a physical platform based on the Crazyflie.The results show that in simulation,the docking success rate exceeds 90%within an inter-module distance of less than 0.5 m.In real flight experiments,the docking success rate reaches over 80%within the same distance range.It verifies the effectiveness and feasibility of the proposed method on micro UAV platforms with limited computational resources and payload capacity.关键词
飞行时间传感器/微型无人机/模块化无人机/主动对接Key words
time-of-flight(ToF)sensors/micro-UAVs/modular UAVs/active docking分类
信息技术与安全科学引用本文复制引用
鲁浩林,张晓晖,冯朝,郭朝,肖晓晖..轻量级深度感知引导的模块化微型无人机主动对接[J].中南大学学报（自然科学版）,2026,57(7):2980-2991,12.基金项目
国家重点研发计划项目(2023YFE0202100) （2023YFE0202100）
国家自然科学基金资助项目(62573328,52405034) （62573328,52405034）
中央高校基本科研业务费资助项目(2042025kf0014)(Project(2023YFE0202100)supported by the National Key Research and Development Program of China （2042025kf0014）
Projects(62573328,52405034)supported by the National Natural Science Foundation of China （62573328,52405034）
Project(2042025kf0014)supported by the Fundamental Research Funds for the Central Universities) （2042025kf0014）
