Browsing by Author "Bonzatto Junior, Luciano"
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- Methodology for precision landing of unmanned aerial vehicles on a mobile basePublication . Bonzatto Junior, Luciano; Lima, José; Wehrmeister, Marco AurélioThe integration of heterogeneous robotic systems is a constant topic today as a promising strategy to overcome the inherent limitations of each system. With this in view, this study explores the development of a precision landing system for Unmanned Aerial Vehicles (UAVs), designed to land autonomously on static and moving targets. To achieve this, a detailed analysis of aspects of the system is first carried out, such as the definition of the fiducial marker, the control architecture, and the definition of gains, followed by the development of the code, which includes the architecture and the interface with an operator. After development, tests begin which are divided into two stages: the first verifies the UAV’s ability to identify and follow moving targets, and the second consists of precision landing experiments in different scenarios. The results of the investigation indicate that the combination of a complete PID controller with Aruco markers is more effective, which is why they were selected for the development of the system. Tracking tests have proven the driver’s ability to guide the UAV to autonomously follow a UGV, although it presents difficulties with high angular speeds. On the other hand, autonomous landing tests showed high efficiency in constant speed scenarios but revealed some failures in situations with sudden changes and requests to the rotation driver.
- Proposal of a visual positioning architecture for master-slave autonomous UAV applicationsPublication . Rech, Lucas Coradin; Bonzatto Junior, Luciano; Berger, Guido; Lima, José; Cantieri, Álvaro R.; Wehrmeister, Marco AurélioAutonomous UAVs offer advantages in industrial, agriculture, environment inspection, and logistics applications. Sometimes the use of cooperative UAVs is important to solve specific demands or achieve productivity gain in these applications. An important technical challenge is the precise positioning between two or more UAVs in a cooperative task flight. Some techniques provide solutions, like the GNSS positioning, visual and LIDAR slam, and computer vision intelligent algorithms, but all these techniques present limitations that must be solved to work properly in specific environments. The proposal of new cooperative position methods is important to face these challenges. The present work proposes an evaluation of a visual relative positioning architecture between two small UAV multi-rotor aircraft working in a master-slave operation, based on an Augmented Reality tag tool. The simulation results obtained absolute error measurements lower than 0.2 cm mean and 0.01 standard deviation for X, Y and Z directions. Yaw measurements presented an absolute error lower than 0.5 ∘ C with a 0.02–5 ∘ C standard deviation. The real-world experiments executing autonomous flight with the slave UAV commanded by the master UAV achieved success in 8 of 10 experiment rounds, proving that the proposed architecture is a good approach to building cooperative master-slave UAV applications.