Vision-based collaborative lifting using quadrotor UAVs

Author

Suseong Kim ; Seungwon Choi ; Hyeonbeom Lee ; Kim, H.J.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea

fYear

2014

fDate

22-25 Oct. 2014

Firstpage

1169

Lastpage

1174

Abstract

This paper presents vision-based lifting of a payload using two quadrotor UAVs. It is assumed that the exact position of a payload is not available. Specifically, for multiple UAVs to approach and connect the correct spots on the payload, image-based visual servo (IBVS) is adopted. A sliding mode controller is designed to track reference positions and velocities generated by IBVS. A scenario is designed from taking off to lifting the payload. The proposed methods and settings are validated with an experiment.

Keywords

autonomous aerial vehicles; control system synthesis; helicopters; multi-robot systems; robot dynamics; robot vision; variable structure systems; visual servoing; IBVS; image-based visual servo; multiple quadrotor UAV; payload position; reference position tracking; reference velocity tracking; sliding mode controller design; vision-based collaborative payload lifting; Manipulation; UAV; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2014 14th International Conference on

Conference_Location

Seoul

ISSN

2093-7121

Print_ISBN

978-8-9932-1506-9

Type

conf

DOI

10.1109/ICCAS.2014.6987736

Filename

6987736

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1768323