논문 상세보기
Research of the Delivery Autonomy and Vision-based Landing Algorithm for Last-Mile Service using a UAV KCI 등재
무인기를 이용한 Last-Mile 서비스를 위한 배송 자동화 및 영상기반 착륙 알고리즘 연구
pp.160-167
This study focuses on the development of a Last-Mile delivery service using unmanned vehicles to deliver goods directly to the end consumer utilizing drones to perform autonomous delivery missions and an image-based precision landing algorithm for handoff to a robot in an intermediate facility. As the logistics market continues to grow rapidly, parcel volumes increase exponentially each year. However, due to low delivery fees, the workload of delivery personnel is increasing, resulting in a decrease in the quality of delivery services. To address this issue, the research team conducted a study on a Last-Mile delivery service using unmanned vehicles and conducted research on the necessary technologies for drone-based goods transportation in this paper. The flight scenario begins with the drone carrying the goods from a pickup location to the rooftop of a building where the final delivery destination is located. There is a handoff facility on the rooftop of the building, and a marker on the roof must be accurately landed upon. The mission is complete once the goods are delivered and the drone returns to its original location. The research team developed a mission planning algorithm to perform the above scenario automatically and constructed an algorithm to recognize the marker through a camera sensor and achieve a precision landing. The performance of the developed system has been verified through multiple trial operations within ETRI.
2. 시스템 구성
2.1 하드웨어 구성
2.2 소프트웨어 구성
3. 알고리즘
3.1 배송 자동화 알고리즘
3.2 영상기반 정밀 착륙 알고리즘
4. 실험 결과
4.1 배송 실증 시나리오
4.2 정밀 착륙 결과
4.3 배송 시나리오 결과
5. 결 론
Acknowledgement
References
