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Guidance for Autonomous Aerial Manipulator Using Stereo Vision
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2019 (English)In: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409Article in journal (Refereed) Epub ahead of print
Abstract [en]

Combining the agility of Micro Aerial Vehicles (MAV) with the dexterity of robotic arms leads to a new era of Aerial Robotic Workers (ARW) targeting infrastructure inspection and maintenance tasks. Towards this vision, this work focuses on the autonomous guidance of the aerial end-effector to either reach or keep desired distance from areas/objects of interest. The proposed system: 1) is structured around a real-time object tracker, 2) employs stereo depth perception to extract the target location within the surrounding scene, and finally 3) generates feasible poses for both the arm and the MAV relative to the target. The performance of the proposed scheme is experimentally demonstrated in multiple scenarios of increasing complexity.

Place, publisher, year, edition, pages
Springer, 2019.
Keywords [en]
Vision based guidance, Aerial manipulator, MAV
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-75822DOI: 10.1007/s10846-019-01060-8OAI: oai:DiVA.org:ltu-75822DiVA, id: diva2:1348163
Available from: 2019-09-03 Created: 2019-09-03 Last updated: 2019-09-03Bibliographically approved

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Kanellakis, ChristoforosNikolakopoulos, George

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