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Robust autonomous landing of UAVs in non-cooperative environments based on comprehensive terrain understanding

Science China(Information Sciences) 2022年第11期65卷 163-177页

作者： lyujie chen Yao XIAO Xiaming YUAN Yiding ZHANG Jihong ZHU Department of Computer Science and Technology Tsinghua University Department of Precision Instrument Tsinghua University Department of Automation Tsinghua University

Autonomous landing in non-cooperative environments is a key step toward full autonomy of unmanned aerial vehicles(UAVs). Existing studies have addressed this problem by finding a flat area of the ground as the landing place. However, all these methods have poor generalization ability and ignore the semantic feature of the terrain. In this paper, we propose a well-designed binocular-LiDAR sensor system and a robust terrain understanding model to overcome these deficiencies. Our model infers both morphologic and semantic features of the ground by simultaneously performing depth completion and semantic segmentation. Moreover, during the inference phase, it self-evaluates the accuracy of the predicted depth map and dynamically selects the LiDAR accumulation time to ensure accurate depth prediction, which greatly improves the robustness of the UAV in completely unknown environments. Through extensive experiments on our collected low-altitude aerial image dataset and real UAVs, we verified that our model effectively learned two tasks simultaneously and achieved better performance than existing depth estimation-based landing methods. Furthermore, the UAV can robustly select a safe landing site in several complex environments with about 98% accuracy.

关键词： UAV autonomous landing terrain understanding depth completion semantic segmentation

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Design and hovering control of a twin rotor tail-sitter UAV

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Science China(Information Sciences) 2019年第9期62卷 185-187页

作者： Wufan WANG Jihong ZHU Minchi KUANG Xiaming YUAN Yunfei TANG Yaqing LAI lyujie chen Yunjie YANG Department of Computer Science and Technology Tsinghua University

The tail-sitter unmanned aerial vehicles (UAVs)combine the vertical takeoff and landing (VTOL)capabilities of rotary-wing UAVs and the efficient long-distance flight capability of fixed-wing UAVs.When compared with other hybrid aircraft configurations such as tilt-rotor [1] and tilt-wing [2]UAVs, the tail-sitter UAV possesses the simplest configuration and requires no extra mechanisms for performing the VTOL maneuver. This brings several benefits including high payload and low susceptibility to malfunctions.

关键词： Design and hovering control of a twin rotor tail-sitter UAV pro

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