用橡皮筋制弹性抓手，让无人机软着陆树干并自动恢复失败
SLAP: Slapband-based Autonomous Perching Drone with Failure Recovery for Vertical Tree Trunks
- 用视觉+惯性传感器检测着陆点与故障，实现柔和降落
- 1.2公斤无人机在20次飞行中75%成功附着真实橡树段
- 首次实现大型无人机垂直树干着陆后100%故障自恢复
停驻可降低无人机能耗、延长采样时间或稳定观测环境。以往垂直表面停驻多依赖轻量化机械结构，系统集成度低，且常需高速猛降，对搭载精密电子设备的无人机存在风险。本文提出适用于大尺寸无人机的新型停驻方案SLAP，包含基于视觉的着陆点检测、基于惯性测量单元的故障检测、姿态控制器、光学近距离探测系统，以及由商用橡皮筋制成带微刺的快速主动弹性抓手。在改装后的1.2公斤商用四旋翼上完成组件与系统分析。初步人机协同自主室内飞行实验中，20次飞行对真实橡树段实现75%停驻成功率，2次人为诱导故障下均实现100%故障恢复。
原文摘要 · Abstract (English)
Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts for perching on vertical surfaces have predominantly focused on lightweight mechanical design solutions with relatively scant system-level integration. Furthermore, perching strategies for vertical surfaces commonly require high-speed, aggressive landing operations that are dangerous for a surveyor drone with sensitive electronics onboard. This work presents the preliminary investigation of a perching approach suitable for larger drones that both gently perches on vertical tree trunks and reacts and recovers from perch failures. The system in this work, called SLAP, consists of vision-based perch site detector, an IMU (inertial-measurement-unit)-based perch failure detector, an attitude controller for soft perching, an optical close-range detection system, and a fast active elastic gripper with microspines made from commercially-available slapbands. We validated this approach on a modified 1.2 kg commercial quadrotor with component and system analysis. Initial human-in-the-loop autonomous indoor flight experiments achieved a 75% perch success rate on a real oak tree segment across 20 flights, and 100% perch failure recovery across 2 flights with induced failures.
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