Autonomous indoor aerial gripping using a quadrotor
Autonomous indoor aerial gripping using a quadrotor
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DOI：
10.1109/iros.2011.6094690
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
Vaibhav Ghadiok;Jeremy Goldin;W. Ren
中科院分区：
文献类型：
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作者：
Vaibhav Ghadiok;Jeremy Goldin;W. Ren
本文介绍了一种使用低成本定制四旋翼飞行器实现自主室内空中抓取的方法。此类研究将微型飞行器（MAV）的典型功能从被动观察和传感扩展到与环境的动态交互。为了实现这一目标，需要克服三个主要挑战：物体的精确定位、传感和操纵，以及在因与物体相互作用而出现干扰时的稳定性。在非结构化、无法使用 GPS 的环境中进行导航是使用依赖于机载单目摄像头的视觉 SLAM 算法来实现的。能够检测红外光源的辅助摄像头用于估计物体的 3D 位置，而欠驱动且被动顺从的机械臂则设计用于在不确定情况下进行有效抓取。该系统利用嵌套 PID 控制器实现姿态稳定、基于视觉的导航和抓取。因此，四旋翼飞行器能够仅使用机载传感器自主导航、定位和抓取物体。
This paper presents an implementation of autonomous indoor aerial gripping using a low-cost, custom-built quadrotor. Such research extends the typical functionality of micro air vehicles (MAV) from passive observation and sensing to dynamic interaction with the environment. To achieve this, three major challenges are overcome: precise positioning, sensing and manipulation of the object, and stabilization in the presence of disturbance due to interaction with the object. Navigation in unstructured, GPS-denied environments is achieved using a visual SLAM algorithm that relies on an onboard monocular camera. A secondary camera, capable of detecting infrared light sources, is used to estimate the 3D location of the object, while an under-actuated and passively compliant manipulator is designed for effective gripping under uncertainty. The system utilizes nested PID controllers for attitude stabilization, vision-based navigation and gripping. The quadrotor is therefore able to autonomously navigate, locate and grasp an object, using only onboard sensors.