Laser tracking leader-follower automatic cooperative navigation system for UAVs

作     者：Rui Ming Zhiyan Zhou Zichen Lyu Xiwen Luo Le Zi Cancan Song Yu Zang Wei Liu Rui Jiang 

作者机构：College of EngineeringSouth China Agricultural University/Guangdong Laboratory for Lingnan Modern AgricultureGuangzhou 510642China College of Computer and Control EngineeringMinjiang University/Fujian Provincial Key Laboratory of Information Processing and Intelligent ControlFuzhou 350108China Guangdong Provincial Key Laboratory for Agricultural Artificial Intelligence(GDKL-AAI)Guangzhou 510642China Guangdong Engineering Research Center for Agricultural Aviation Application(ERCAAA)Guangzhou 510642China Key Laboratory of Key Technology on Agricultural Machine and EquipmentSouth China Agricultural UniversityMinistry of Education of P.R.ChinaGuangzhou 510642China 

出 版 物：《International Journal of Agricultural and Biological Engineering》 (国际农业与生物工程学报（英文）)

年 卷 期：2022年第15卷第2期

页      面：165-176页

核心收录：

学科分类：080901[工学-物理电子学] 0809[工学-电子科学与技术（可授工学、理学学位）] 0828[工学-农业工程] 08[工学] 080401[工学-精密仪器及机械] 0804[工学-仪器科学与技术] 0803[工学-光学工程] 

基　　金：This work was supported in part by the Laboratory of Lingnan Modern Agriculture Project(Grant No.NT2021009) in part by the Science and Technology Plan of Jian City of China(Grant No.20211-055316) in part by the National Natural Science Foundation of China(Grant No.31871520) in part by the Science and Technology Plan of Guangdong Province of China(Grant No.2021B1212040009,2017B090903007) in part by the Guangdong Basic and Applied Basic Research Foundation under(Grant No.2020A1515110214) in part by Innovative Research Team of Agricultural and Rural Big Data in Guangdong Province of China under(Grant No.2019KJ138) 

主　　题：two-UAVs cooperative visual navigation laser tracking 

摘      要：Currently,small payload and short endurance are the main problems of a single UAV in agricultural applications,especially in large-scale *** is one of the important methods to solve the above problems of UAVs by improving operation efficiency through multi-UAV cooperative *** study proposed a laser tracking leader-follower automatic cooperative navigation system for *** leader in the cluster fires a laser beam to irradiate the follower,and the follower performs a visual tracking flight according to the light spot at the relative position of the laser tracking *** on the existing kernel correlation filter(KCF)tracking algorithm,an improved KCF real-time spot tracking method was *** with the traditional KCF tracking algorithm,the recognition and tracking rate of the optimized algorithm was increased from 70%to 95%in indoor environment,and was increased from 20%to 90%in outdoor *** navigation control method was studied from two aspects:the distance coordinate transformation model based on micro-gyroscope and navigation control *** error of spot position was reduced from the maximum(3.12,−3.66)cm to(0.14,0.12)cm by correcting the deviation distance of the spot at different angles through a coordinate correction *** image coordinate conversion model was established for a complementary metal-oxide-semiconductor(CMOS)camera and laser receiving device at different mounting *** laser receiving device was divided into four regions,S0-S3,and the speed of the four regions is calculated using an uncontrollable discrete Kalman *** outdoor flight experiments of two UAVs were carried out outdoors using this *** experiment results show that the average flight error of the two UAVs on the X-axis is 5.2 cm,and the coefficient of variation is *** average flight error on the Z-axis is 7.3 cm,and the coefficient of variation is *** study demonstrated the possibility