双无人机空中对接系统实现高精度、可重复的空中抓取
A Progress-Aware Leader-Follower Midair Docking System for Dual-Drone Aerial Manipulation
- 采用主从飞行模式，通过磁吸结构实现无动力对接
- 对接成功率超90%，平均对接时间低于5秒
- 适合研究模块化无人机协作与可重复空中操作
小型无人飞行器间的可靠空中对接对模块化空中协同与操作至关重要，但受限于推力和载荷约束，需精确的相对位姿控制与可重复平台。本文提出一种双无人机对接平台，两架四旋翼以主-从构型飞行，通过轻量化模块化框架与被动磁性锁扣实现对接。一个进度感知的任务调度器管理从接近、对齐、捕获到稳定四个阶段的转换。该平台集成了完整的软硬件系统（基于ROS 2，支持Crazyflie/PX4接口）与同步日志记录，可用于基准评估。在仿真与真实实验中，我们使用形成误差、航向一致性、对接成功率、对接耗时及失败模式统计等定量指标进行评估。平台支持对接策略与同步机制的统计比较，并为模块化空中协作与可重复空中操作提供了实用测试平台。
原文摘要 · Abstract (English)
Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control and repeatable platform under tight thrust and payload constraints. We present a dual-drone docking platform where two quadrotors operate in a leader-follower formation and dock using a lightweight modular frame with passive magnetic latching. A progress-aware mission supervisor manages phase transitions: approach, alignment, capture, and settle. This platform integrates a complete hardware-software stack (ROS 2 with Crazyflie/PX4 interfaces) and synchronized logging for benchmark evaluation. We evaluate the platform in simulation and real-world experiments using quantitative metrics such as formation error, baseline and yaw consistency, docking success rate, time-to-dock, and failure-mode statistics. The platform enables statistically grounded comparison of docking supervision and synchronization strategies and provides a practical testbed for modular aerial cooperation and repeatable midair aerial manipulation.
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