Guidance for Autonomous Aerial Manipulator Using Stereo Vision

Document identifier: oai:DiVA.org:ltu-75822
Access full text here:10.1007/s10846-019-01060-8
Keyword: Engineering and Technology, Electrical Engineering, Electronic Engineering, Information Engineering, Robotics, Teknik och teknologier, Elektroteknik och elektronik, Robotteknik och automation, Vision based guidance, Aerial manipulator, MAV, Robotics and Artificial Intelligence, Robotik och artificiell intelligens
Publication year: 2020
Relevant Sustainable Development Goals (SDGs):
SDG 9 Industry, innovation and infrastructure
The SDG label(s) above have been assigned by OSDG.ai

Abstract:

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.

Authors

Christoforos Kanellakis

Luleå tekniska universitet; Signaler och system
Other publications >>

George Nikolakopoulos

Luleå tekniska universitet; Signaler och system
Other publications >>

Record metadata

Click to view metadata