DocumentCode :
2951751
Title :
Development of an unmanned helicopter automatic barrels transportation system
Author :
Chong Wu ; Juntong Qi ; Dalei Song ; Xin Qi ; Tianyu Lin ; Jianda Han
Author_Institution :
Univ. of Chinese Acad. of Sci., Beijing, China
fYear :
2015
fDate :
26-30 May 2015
Firstpage :
4686
Lastpage :
4691
Abstract :
In the 2nd International Unmanned Aerial Vehicle (UAV) Innovation Grand Prix (UAVGP) sponsored by Aviation Industry Corporation of China (AVIC), an autonomous barrel transportation mission was proposed for Rotary-wing UAV (RUAV) which aims at validating the feasibility of marine vertical replenishment by RUAVs. The RUAV was supposed to track the movable platform, pick up barrels on the supplier platform, stack barrels on the replenishment platform, take off and land autonomously without any human interference. The final score was determined based on the mission completion time and the stacking accuracy. The main challenges involved in this mission include attitude stabilizing with varying payload, accurate movable platform tracking and task-scheduling. An unmanned helicopter (UH) automatic barrels transportation system was established by our team, and the navigation system, control system and task scheduling system will be detailed in this paper, along with the flight tests before and in the competition. The system´s performance has been verified in the competition and won the first prize finally.
Keywords :
attitude control; autonomous aerial vehicles; helicopters; stability; transportation; AVIC; Aviation Industry Corporation of China; RUAV; UAVGP; UH; attitude stability; automatic barrels transportation system; innovation grand prix; marine vertical replenishment; mission completion time; movable platform; movable platform tracking; navigation system; pick up barrels; replenishment platform; rotary-wing UAV; stack barrels; stacking accuracy; supplier platform; task scheduling system; unmanned aerial vehicle; unmanned helicopter; varying payload; Accuracy; Control systems; Helicopters; Payloads; Stability analysis; Stacking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
Type :
conf
DOI :
10.1109/ICRA.2015.7139849
Filename :
7139849
Link To Document :
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