Visual Servoing of Quadrotors for Perching by Hanging From Cylindrical Objects

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Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
aerial robotics
visual servoing
Aerospace Engineering
Applied Mechanics
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Mechanical Engineering
Robotics
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This paper addresses vision-based localization and servoing for quadrotors to enable autonomous perching by hanging from cylindrical structures using only a monocular camera. We focus on the problems of relative pose estimation, control, and trajectory planning for maneuvering a robot relative to cylinders with unknown orientations. We first develop a geometric model that describes the pose of the robot relative to a cylinder. Then, we derive the dynamics of the system, expressed in terms of the image features. Based on the dynamics, we present a controller which guarantees asymptotic convergence to the desired image space coordinates. Finally, we develop an effective method to plan dynamically-feasible trajectories in the image space, and we provide experimental results to demonstrate the proposed method under different operating conditions such as hovering, trajectory tracking, and perching.

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2016-01-01
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Robotics and Automation Letters, IEEE
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You can find a video related to this publicaton on YouTube: https://youtu.be/MEJ_Fx71IK0
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@ARTICLE{7347389, author={Thomas, J. and Loianno, G. and Daniilidis, K. and Kumar, V.}, journal={Robotics and Automation Letters, IEEE}, title={Visual Servoing of Quadrotors for Perching by Hanging from Cylindrical Objects}, year={2015}, volume={PP}, number={99}, pages={1-1}, keywords={Aerospace electronics;Cameras;Robot kinematics;Trajectory;Visual servoing;Aerial Robotics;Visual Servoing}, doi={10.1109/LRA.2015.2506001}, ISSN={2377-3766}, month={},}
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