Autonomous Object Retrieval with an Unmanned Aerial Manipulator in Confined Spaces

4Front Robotics是一家位于卡尔加里的全加拿大公司，生产高机动性无人机（uav），可执行各种复杂任务，如管道监控、搜索与救援、城市警务、电力线间隙检查、3D地形成像等。该公司正在为其无人机增加操纵能力方面发挥领导作用，通过在其无人机上附加一个轻型臂，使其具有操作能力，例如从混乱的环境中检索碎片，操纵被困在密闭空间中的物体，以及将小型有效载荷运送到难以到达的区域。拟议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-机械手系统能够自主地遵循给定的末端执行器轨迹并抓取物体，同时避免与环境中的障碍物发生碰撞。

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.