Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 22, Issue 4, Pages 1610-1621Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2017.2682283
Keywords
Unmanned aerial vehicles; visual servoing
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Funding
- EU [AEROARMS H2020-ICT-2014-1-644271]
- Spanish Ministry of Economy and Competitiveness [ROBINSTRUCT TIN2014-58178-R]
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This paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to prioritize several tasks during flight. We propose a safety-related primary task to avoid possible collisions. As a secondary task, we present an uncalibrated image-based visual servo strategy to drive the arm endeffector to a desired position and orientation by using a camera attached to it. In contrast to the previous visual servo approaches, a known value of camera focal length is not strictly required. To further improve flight behavior, we hierarchically add one task to reduce dynamic effects by vertically aligning the arm center of gravity to the multirotor gravitational vector, and another one that keeps the arm close to a desired configuration of high manipulability and avoiding arm joint limits. The performance of the hierarchical control law, with and without activation of each of the tasks, is shown in simulations and in real experiments confirming the viability of such prioritized control scheme for aerial manipulation.
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