Reliable UAV Perception and Perching Solutions in Urban Streets

December 09, 2024

Develop a comprehensive UAV perception and Perching solution, focusing on the integration of smart streetlight poles with a UAV takeoff, landing, and battery exchange platform

Abstract

This project aims to design and implement a comprehensive UAV perching and management system, tailored to support autonomous operations in diverse environments. Central to the system is the development of UAV airports equipped with wireless charging modules, April Tag-based precise landing platforms, and integrated position and orientation correction mechanisms. These features enable reliable takeoff, landing, and continuous UAV operation with minimal human intervention.

The system incorporates a robust power management framework, including a custom-designed power distribution board for seamless transition between onboard battery and external power during charging. Communication between UAVs and the airport leverages 4G MQTT protocols, ensuring reliable real-time data exchange. Advanced algorithms integrate GNSS, Vicon, and April Tag-based localization for high-precision positioning, further enhanced by extended Kalman filtering for improved dynamic performance.

Rigorous experimental validation confirms the system’s effectiveness, including tests on April Tag-based localization, power management, and wireless communication under dynamic conditions. This project not only addresses critical challenges in UAV operation and management but also lays the groundwork for scalable UAV infrastructure, fostering innovation and efficiency in both urban and remote applications.