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Uncalibrated visual servo for unmanned aerial manipulation

Autor
Santamaria, A.; Grosch, P.; Lippiello, V.; Solá, J.; Andrade-Cetto, J.
Tipus d'activitat
Article en revista
Revista
IEEE-ASME transactions on mechatronics
Data de publicació
2017-08-01
Volum
22
Número
4
Pàgina inicial
1610
Pàgina final
1621
DOI
https://doi.org/10.1109/TMECH.2017.2682283 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/document/7879365/ Obrir en finestra nova
Resum
This paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to prioritize several tasks during flight. We propose a safety-related primary task to avoid possible collisions. As a secondary task, we present an uncalibrated image-based visual servo strategy to drive the arm end-effector to a desired position and orientation by using a camera ...
Paraules clau
Unmanned Aerial Vehicles, Visual Servoing
Grup de recerca
KRD - Cinemàtica i Disseny de Robots
VIS - Visió Artificial i Sistemes Intel.ligents

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