| 旋翼空中机器人系统架构及设计 |
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| 引用本文： | 王冠林,史海庆,谭洪胜,朱纪洪.旋翼空中机器人系统架构及设计[J].计算机工程与应用,2010,46(27):66-69. |
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| 作者姓名： | 王冠林 史海庆 谭洪胜 朱纪洪 |
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| 作者单位： | 清华大学计算机科学与技术系,北京,100084 |
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| 摘 要： | 设计并验证了某型旋翼空中机器人的系统架构。整个空中机器人系统由直升机和地面站两部分组成。直升机是空中机器人的主体，可以自主飞行并完成指定任务。地面站用于监控无人直升机的飞行，并实现人机交互等多项功能。此外，地面站还可通过视觉导航系统引导直升机的自主着陆。直升机与地面站之间通过指令数字链路和视频模拟链路进行信息交互和实时通讯。经实际飞行验证，该空中机器人系统具有鲁棒和实时的特点，能实现直升机自主飞行和自主起降功能。
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| 关 键 词： | 空中机器人 地面站 视觉导航 |
| 收稿时间： | 2009-11-6 |
| 修稿时间： | 2010-2-25
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Implementation and design of rotorcraft aerial robot system |
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| WANG Guan-lin,SHI Hai-qing,TAN Hong-sheng,ZHU Ji-hong.Implementation and design of rotorcraft aerial robot system[J].Computer Engineering and Applications,2010,46(27):66-69. |
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| Authors: | WANG Guan-lin SHI Hai-qing TAN Hong-sheng ZHU Ji-hong |
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| Affiliation: | (Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China) |
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| Abstract: | This paper provides the design and realization of a rotor aerial robot system.The whole system is made up of helicopter and ground control station.The communication between helicopter and ground control station are video data links and flight orders.As the principal part, the helicopter can fly autonomously and perform aerial missions.The ground control station is a man-machine conversation interface which can supervise the helicopter flight.Moreover,the vision navigation system of ground control station can lead the helicopter to land automatically.The actual flight tests show the whole system is robust and real-time,which is suit for autonomous flight,take off and landing. |
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| Keywords: | aerial robot ground control station vision navigation |
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