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vision-based control of an underactuated flying robot with input delay

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2018年第2期40卷 446-455页

作者： Asl, Hamed Jabbari Mahdioun, Seyyed H. Yoon, Jungwon Islamic Azad Univ Ilkhchi Branch Young Researchers & Elite Club Ilkhchi Iran Danesh Gostar Pargar Co Robot & Mechatron Res Grp Tehran Iran Gyeongsang Natl Univ Sch Mech & Aerosp Engn Jinju South Korea Gyeongsang Natl Univ ReCAPT Jinju South Korea

In this paper a vision-based tracking controller is designed for the quadrotor vertical take-off and landing of an unmanned aerial vehicle. An imaged-based visual servoing approach is utilised to localise the quadrotor with respect to a moving target. Perspective image moments are used to define the visual features, which are projected on a rotated image plane to simplify the image dynamics. Attitude information and angular velocities are assumed to be available and the controller uses the flow of image features as the linear velocity cue. Presence of delay in processing and communication is modelled as a constant time delay in the force input of the translational dynamics, where a controller is designed for theses dynamics to compensate the delay effect. This controller is saturated in order to meet the quadrotor model constraint. A dynamic surface control approach is utilised for the rotational dynamics to track the desired attitude, defined through the position control loop. The stability properties of the complete control scheme are analysed using a theory of nonlinear cascaded systems. Simulation examples are provided in both nominal and perturbed conditions which show the effectiveness of the proposed theoretical results.

关键词： Quadrotor vision-based control input delay UAV dynamic surface control

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vision-based control for mining automation

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IEEE ROBOTICS & AUTOMATION MAGAZINE 1998年第4期5卷 44-49页

作者： Corke, P Roberts, J Winstanley, G CSIRO Div Mfg Sci & Technol CRC Min Technol & Equipment Kenmore Qld 4069 Australia

The mining industry is highly suitable for the application of robotics and automation technology since the work is both arduous and dangerous. Visual servoing is a means of integrating non-contact visual sensing with machine control to augment or replace operator based control. This article describes two of our current mining automation projects in order to demonstrate some, perhaps unusual, applications of visual servoing, and also to illustrate some very real problems with robust computer vision.

关键词： vision-based control visual servoing laser rangefinder automation field robotics mining

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vision-based control of a Delta Parallel Robot via Linear Camera-Space Manipulation

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2017年第1期85卷 93-106页

作者： Coronado, Enrique Maya, Mauro Cardenas, Antonio Guarneros, Orlando Piovesan, Davide Univ Autonoma San Luis Potosi San Luis Potosi Mexico Gannon Univ Erie PA USA

One of the open problems to control a parallel robot in real-time is the larger number of parameters to be incorporated in the control model when compared to serial robots. This paper presents an innovative vision-based method to control a delta-type parallel robot based on Linear Camera-Space Manipulation. The proposed method is a simple and robust technique capable of achieving real-time control of robots without relying on the calibration of either the robot or the environment parameters. To document the robustness of this technique, a sensitivity analysis was performed in simulation where the effect of two sources of error on the end-point positioning are considered. Such sources are the variability of each link's parameters, and the uncertainty of the visual measurements. Experimental results on a Clavel's delta parallel robot show that end-point positioning errors obtained with Linear Camera-Space Manipulation are less than 1.5 mm, demonstrating a low sensitivity to parameter uncertainty in qualitative agreement with the simulation results. The results show that the developed approach is advantageous to control parallel robots for industrial applications in real-time and can obviate to a number of open problems common with the control of parallel robots.

关键词： vision-based control CSM Parallel robot Robot control

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vision-based control for rigid body stabilization

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AUTOMATICA 2011年第5期47卷 1020-1027页

作者： Cunha, Rita Silvestre, Carlos Hespanha, Joao Pedro Aguiar, A. Inst Super Tecn Inst Syst & Robot Dept Elect Engn & Comp Sci P-1046001 Lisbon Portugal Univ Calif Santa Barbara Dept Elect & Comp Engn Santa Barbara CA 93106 USA

This paper addresses the problem of stabilizing to a desired equilibrium point an eye-in-hand system, which consists of a single camera mounted on a rigid body free to move on SE(3). It is assumed that there is a collection of landmarks fixed in the environment and that the image coordinates of those landmarks are provided to the system by an on-board CCD camera. The proposed method addresses not only the problem of stabilization but also that of maintaining feature visibility along the system's trajectory. The resulting solution consists of a feedback control law based on the current and desired image coordinates and reconstructed attitude and depth ratio information, which guarantees that (i) the desired equilibrium point is an almost global attractor;(ii) a set of necessary conditions for feature visibility holds throughout the system's trajectories;and (iii) the image of a predefined feature point is kept inside the camera's field of view. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： vision-based control Nonlinear systems Asymptotic stabilization Perception and sensing

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vision-based control of a Handheld Surgical Micromanipulator With Virtual Fixtures

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IEEE TRANSACTIONS ON ROBOTICS 2013年第3期29卷 674-683页

作者： Becker, Brian C. MacLachlan, Robert A. Lobes, Louis A., Jr. Hager, Gregory D. Riviere, Cameron N. Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA Univ Pittsburgh Med Ctr Dept Ophthalmol Pittsburgh PA 15213 USA Johns Hopkins Univ Dept Comp Sci Baltimore MD 21218 USA

Performing micromanipulation and delicate operations in submillimeter workspaces is difficult because of destabilizing tremor and imprecise targeting. Accurate micromanipulation is especially important for microsurgical procedures, such as vitreoretinal surgery, to maximize successful outcomes and minimize collateral damage. Robotic aid combined with filtering techniques that suppress tremor frequency bands increases performance;however, if knowledge of the operator's goals is available, virtual fixtures have been shown to further improve performance. In this paper, we derive a virtual fixture framework for active handheld micromanipulators that is based on high-bandwidth position measurements rather than forces applied to a robot handle. For applicability in surgical environments, the fixtures are generated in real time from microscope video during the procedure. Additionally, we develop motion scaling behavior around virtual fixtures as a simple and direct extension to the proposed framework. We demonstrate that virtual fixtures significantly outperform tremor cancellation algorithms on a set of synthetic tracing tasks (p < 0.05). In more medically relevant experiments of vein tracing and membrane peeling in eye phantoms, virtual fixtures can significantly reduce both positioning error and forces applied to tissue (p < 0.05).

关键词： Dexterous manipulation medical robots and systems micro/nanorobots motion control vision-based control

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vision-based control of near-obstacle flight

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AUTONOMOUS ROBOTS 2009年第3期27卷 201-219页

作者： Beyeler, Antoine Zufferey, Jean-Christophe Floreano, Dario Ecole Polytech Fed Lausanne LIS CH-1015 Lausanne Switzerland

This paper presents a novel control strategy, which we call optiPilot, for autonomous flight in the vicinity of obstacles. Most existing autopilots rely on a complete 6-degree-of-freedom state estimation using a GPS and an Inertial Measurement Unit (IMU) and are unable to detect and avoid obstacles. This is a limitation for missions such as surveillance and environment monitoring that may require near-obstacle flight in urban areas or mountainous environments. OptiPilot instead uses optic flow to estimate proximity of obstacles and avoid them. Our approach takes advantage of the fact that, for most platforms in translational flight (as opposed to near-hover flight), the translatory motion is essentially aligned with the aircraft main axis. This property allows us to directly interpret optic flow measurements as proximity indications. We take inspiration from neural and behavioural strategies of flying insects to propose a simple mapping of optic flow measurements into control signals that requires only a lightweight and power-efficient sensor suite and minimal processing power. In this paper, we first describe results obtained in simulation before presenting the implementation of optiPilot on a real flying platform equipped only with lightweight and inexpensive optic computer mouse sensors, MEMS rate gyroscopes and a pressure-based airspeed sensor. We show that the proposed control strategy not only allows collision-free flight in the vicinity of obstacles, but is also able to stabilise both attitude and altitude over flat terrain. These results shed new light on flight control by suggesting that the complex sensors and processing required for 6 degree-of-freedom state estimation may not be necessary for autonomous flight and pave the way toward the integration of autonomy into current and upcoming gram-scale flying platforms.

关键词： vision-based control Optic-flow-based control Obstacle avoidance Near-obstacle flight Autonomous unmanned aerial vehicle (UAV) Micro-air vehicle (MAV)

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vision-based control of a smart wheelchair for the Automated Transport and Retrieval System (ATRS)

Vision-based control of a smart wheelchair for the Automated...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Sermeno-Villalta, Humberto Spletzer, John Lehigh Univ Dept Comp Sci & Engn Bethlehem PA 18015 USA

ISBN: (纸本)0780395050

In this paper, we present a vision-based control approach for autonomously docking a wheelchair onto a vehicle lift platform. This is a principle component of the Automated Transport and Retrieval System (ATRS) - an alternate mobility solution for drivers with lower body disabilities. The ATRS employs robotics, automation, and machine vision technologies, and can be integrated into a standard minivan or sport utility vehicle (SUV). At the core of the ATRS is a "smart" wheelchair system that autonomously navigates between the driver's position and a powered lift at the rear of the vehicle - eliminating the need for an attendant. From an automation perspective, autonomously docking the wheelchair onto the lift platform presented the most significant technical challenge for the proof-of-concept ATRS. This was driven primarily by geometry constraints, which limited clearance between the chair wheels and the lift platform rails. We present significant simulation and experimental results for our approach. These indicate that the coupling of vision-based localization for feedback and input/output feedback linearization techniques for controller design can provide for accurate wheelchair navigation and reliable docking under a range of ambient illumination conditions.

关键词： ATRS smart wheelchair vision-based control

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vision-based control for Aerial Obstacle Avoidance in Forest Environments

Vision-based Control for Aerial Obstacle Avoidance in Forest...

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5th IFAC Conference on Advances in control and Optimization of Dynamical Systems (ACODS)

作者： Mannar, Sumedh Thummalapeta, Mourya Saksena, Saumya Kumaar Omkar, S. N. Indian Inst Sci Dept Aerosp Engn Bangalore Karnataka India Univ Petr & Energy Studies Dept Aerosp Engn Dehra Dun India

The increasing application of unmanned aerial vehicles (UAVs) in unstructured, natural environments raises the demand for robust obstacle avoidance systems that work in realtime. In view of this problem, we present a control algorithm for quadrotors based on monocular vision that is specifically designed for obstacle avoidance in forest environments. The algorithm presented is an enhancement of an existing algorithm, originally proposed and tested for usage with rovers, that uses a weighted combination of texture features to compute distances to nearest obstacle in various longitudinal strips of the image frame. The weights are pre-computed by means of supervised learning of correspondences of the features to ground-truth distances processed on frames derived from a simulated forest environment. The modifications proposed on the original algorithm show significant improvement in its obstacle-distance estimation accuracy and computational efficiency as observed from actual autonomous flying experiments carried out on an off-the-shelf quadrotor. The modified algorithm works at 15 frames/sec for a frame size of 160 x 120 pixels as profiled on an Odroid XU4 mini-computer. Results from both simulated images and real videos have been presented. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： vision-based control autonomous navigation obstacle avoidance unmanned aerial vehicles quadrotor supervised learning

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vision-based control of a Flying Robot Without Linear Velocity Measurements

Vision-Based Control of a Flying Robot Without Linear Veloci...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Asl, Hamed Jabbari Yoon, Jungwon Gyeongsang Natl Univ Robots & Intelligent Syst Lab Jinju South Korea

ISBN: (纸本)9781467391078

In this paper, image-based visual servo (IBVS) control of the quadrotor unmanned aerial vehicle (UAV) is considered. The main purpose of this paper is to use flow of image features as the velocity cue to compensate the low quality of linear velocity information obtained from accelerometers. Image features are selected from a combination of suitable perspective image moments without requiring geometric model of the observed target. Using respectively a linear and a nonlinear observer, two output feedback controllers are proposed. The main advantage of these approaches is that they are robust with respect to unknown depth information of the image. Stability analyses show that the states of the system are bounded and the error signals converge to zero during the positioning task. Simulation results are presented to illustrate the effectiveness of the proposed approaches.

关键词： vision-based control quadrotor observer image flow IBVS UAV

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vision-based control of near-obstacle flight

Vision-based control of near-obstacle flight

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IEEE/IROS Conference 2008

作者： Beyeler, Antoine Zufferey, Jean-Christophe Floreano, Dario Ecole Polytech Fed Lausanne LIS CH-1015 Lausanne Switzerland

关键词： vision-based control Optic-flow-based control Obstacle avoidance Near-obstacle flight Autonomous unmanned aerial vehicle (UAV) Micro-air vehicle (MAV)

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