Autonomous Object Retrieval with an Unmanned Aerial Manipulator in Confined Spaces

密闭空间中无人机自主检索物体

• 批准号: 536142-2018
• 负责人: Gupta, Kamal
• 金额: $ 2.96万
• 依托单位: Simon Fraser University
• 依托单位国家: 加拿大
• 项目类别: Collaborative Research and Development Grants
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=688173
• 关键词: Autonomous; Object; Retrieval; Unmanned; Aerial

4Front Robotics, an all-Canadian company based in Calgary builds highly maneuverable Unmanned Aerial Vehicles (UAVs) that perform services for diverse complex missions in applications such as pipeline monitoring, search & rescue, urban policing, power line clearance inspection, 3D terrain imaging, etc. The company is taking leadership role in adding manipulation capabilities to its UAVs by attaching a lightweight arm to its UAVs in order to give them manipulation capabilities for tasks such as retrieval of debris from cluttered environments, manipulation of objects trapped in a confined space, and delivery of small payloads into difficult-to-reach areas. A key focus of the proposed research project is to develop an integrated trajectory planning, grasping and control system that enables the UAV-Maniuplator system to autonomously follow a given end-effector trajectory and grasp an object while avoiding collisions with obstacles in the environment.

4Front Robotics是一家总部位于卡尔加里的全加拿大公司，致力于制造高度可重复使用的无人机（UAV），可为管道监测、搜索和救援、城市警务、电力线清场检查、3D地形成像等应用中的各种复杂任务提供服务。该公司正在通过将轻型手臂连接到其无人机上来为其无人机增加操纵能力方面发挥领导作用，操纵能力，用于诸如从杂乱环境中回收碎片、操纵被困在有限空间中的物体以及将小型有效载荷运送到难以到达的区域等任务。拟议的研究项目的一个重点是开发一个集成的轨迹规划，抓取和控制系统，使无人机操纵系统能够自主地遵循给定的末端执行器轨迹并抓住物体，同时避免与环境中的障碍物碰撞。