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
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
Recommended Citation
Thomas, Justin; Loianno, Giuseppe; Daniilidis, Kostas; and Kumar, Vijay, "Visual Servoing of Quadrotors for Perching by Hanging From Cylindrical Objects" (2016). Departmental Papers (MEAM). 300.
https://repository.upenn.edu/meam_papers/300
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={},}
Date Posted: 17 December 2015
Comments
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