Departmental Papers (MEAM)

Document Type

Journal Article

Subject Area

GRASP

Date of this Version

1-2016

Publication Source

Robotics and Automation Letters, IEEE

Volume

1

Issue

1

Start Page

57

Last Page

64

DOI

10.1109/LRA.2015.2506001

Comments

You can find a video related to this publicaton on YouTube: https://youtu.be/MEJ_Fx71IK0

Abstract

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.

Copyright/Permission Statement

© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Keywords

aerial robotics, visual servoing

Bib Tex

@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={},}

Additional Files

RA-L_IBVS_Cylinder_Proof.pdf (185 kB)
Proof

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Date Posted: 17 December 2015