Visual Guidance of Unmanned Aerial Manipulators

155 Pages·2019·11.24 MB·English

by  Angel Santamaria-Navarro

Springer Tracts in Advanced Robotics 125
Angel Santamaria-Navarro · Joan Solà
Juan Andrade-Cetto
Visual Guidance
of Unmanned
Aerial
Manipulators
Springer Tracts in Advanced Robotics 125
Series editors
Prof. Bruno Siciliano Prof. Oussama Khatib
Dipartimento di Ingegneria Elettrica Artificial Intelligence Laboratory
e Tecnologie dell’Informazione Department of Computer Science
Università degli Studi di Napoli Stanford University
Federico II Stanford, CA 94305-9010
Via Claudio 21, 80125 Napoli USA
Italy E-mail: [email protected]
E-mail: [email protected]
Editorial Advisory Board
Nancy Amato, Texas A & M, USA
Oliver Brock, TU Berlin, Germany
Herman Bruyninckx, KU Leuven, Belgium
Wolfram Burgard, University Freiburg, Germany
Raja Chatila, ISIR—UPMC & CNRS, France
Francois Chaumette, INRIA Rennes—Bretagne Atlantique, France
Wan Kyun Chung, POSTECH, Korea
Peter Corke, Queensland University of Technology, Australia
Paolo Dario, Scuola S. Anna Pisa, Italy
Alessandro De Luca, Sapienza University Rome, Italy
Rüdiger Dillmann, University Karlsruhe, Germany
Ken Goldberg, UC Berkeley, USA
John Hollerbach, University Utah, USA
Lydia E. Kavraki, Rice University, USA
Vijay Kumar, University Pennsylvania, USA
Bradley J. Nelson, ETH Zürich, Switzerland
Frank Chongwoo Park, Seoul National University, Korea
S. E. Salcudean, University British Columbia, Canada
Roland Siegwart, ETH Zurich, Switzerland
Gaurav S. Sukhatme, University Southern California, USA
More information about this series at http://www.springer.com/series/5208
Angel Santamaria-Navarro
à
Joan Sol Juan Andrade-Cetto
(cid:129)
Visual Guidance
of Unmanned Aerial
Manipulators
123
AngelSantamaria-Navarro JuanAndrade-Cetto
Institut deRobòticai Informàtica Institut deRobòticai Informàtica
Industrial, CSIC-UPC Industrial, CSIC-UPC
Barcelona,Spain Barcelona,Spain
JoanSolà
Institut deRobòticai Informàtica
Industrial, CSIC-UPC
Barcelona,Spain
ISSN 1610-7438 ISSN 1610-742X (electronic)
SpringerTracts inAdvanced Robotics
ISBN978-3-319-96579-6 ISBN978-3-319-96580-2 (eBook)
https://doi.org/10.1007/978-3-319-96580-2
LibraryofCongressControlNumber:2018950193
©SpringerNatureSwitzerlandAG2019
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To Núria and my family
Foreword
Robotics is undergoing a major transformation in scope and dimension. From a
largely dominant industrial focus, robotics is rapidly expanding into human envi-
ronmentsandvigorouslyengagesinitsnewchallenges. Interactingwith,assisting,
serving, and exploring with humans, the emerging robots will increasingly touch
people and their lives.
Beyond its impact on physical robots, the body of knowledge robotics has
produced is revealing a much wider range of applications reaching across diverse
research areas and scientific disciplines, such as biomechanics, haptics, neuro-
sciences, virtual simulation, animation, surgery, and sensor networks, among oth-
ers. In return, the challenges of the new emerging areas are proving an abundant
source of stimulation and insights for the field of robotics. It is indeed at the
intersection of disciplines that the most striking advances happen.
TheSpringer TractsinAdvancedRobotics(STAR)isdevotedtobringingtothe
research community the latest advances in the robotics field on the basis of their
significance and quality. Through a wide and timely dissemination of critical
researchdevelopmentsinrobotics,ourobjectivewiththisseriesistopromotemore
exchanges and collaborations among the researchers in the community and con-
tribute to further advancements in this rapidly growing field.
The monograph by Angel Santamaria-Navarro, Joan Solà, and Juan
Andrade-Cetto is based on the first author’s doctoral thesis. It deals with the hot
research topic of visual guidance of unmanned aerial manipulators, which can be
foundinseveralindustrialinspectionandmaintenancescenarios.Afullcoverageof
an autonomous navigation technique,a guidance method using visualinformation,
and a hierarchical control algorithm to handle multiple-priority tasks with redun-
dancy resolution are provided, and how these are effective for aerial manipulators
interacting with the environment is keenly discussed with supporting practical
issues.
vii
viii Foreword
Rich of examples developed by means of extensive experimentation on
real robotic platforms, this volume was a finalist for the 2018 Georges Giralt
Ph.D. Award. A very fine addition to the STAR series!
Naples, Italy Bruno Siciliano
June 2018 STAR Editor
Preface
The ability to fly has greatly expanded the possibilities for robots to perform
surveillance,inspection,ormapgenerationtasks.Yet,itwasonlyinrecentyearsthat
research in aerial robotics was mature enough to allow active interactions with the
environment. The robots responsible for these interactions are called aerial manip-
ulators and usually combine a multirotor platform and one or more roboticarms.
Themainobjectiveofthisbookistoformalizetheconceptofaerialmanipulator
and present guidance methods, using visual information, to provide them with
autonomous functionalities.
Akeycompetencetocontrolanaerialmanipulator istheability tolocalize itin
the environment. Traditionally, this localization has required an external infras-
tructure of sensors (GPS or IR cameras), restricting the real applications.
Furthermore, localization methods with onboard sensors, exported from other
robotics fields such as simultaneous localization and mapping (SLAM), require
large computational units becoming a handicap in vehicles where size, load, and
power consumption are important restrictions. In this regard, this book proposes a
method to estimate the state of the vehicle (position, orientation, velocity, and
acceleration) by means of onboard, low-cost, lightweight, and high-rate sensors.
With the physical complexity of these robots, it is required to use advanced
control techniques during navigation. Thanks to their redundancy on degrees-of-
freedom, they offer the possibility to accomplish not only with mobility require-
mentsbutalsowithothertaskssimultaneouslyandhierarchically,prioritizingthem
dependingontheirimpact ontheoverall missionsuccess.Inthisbook,wepresent
such control laws and define a number of these tasks to drive the vehicle using
visual information, guarantee the robot integrity during flight, and improve the
platform stability or increase arm operability.
The main contributions of this research work are threefold: (1) Present a
localization technique to allow autonomous navigation; this method is specifically
designedforaerialplatformswithsize,load,andcomputationalburdenrestrictions.
(2) Obtain control commands to drive the vehicle using visual information (visual
servo). (3) Integrate the visual servo commands into a hierarchical control law by
ix
x Preface
exploitingtheredundancyoftherobottoaccomplishsecondarytasksduringflight.
These tasks are specific for aerial manipulators, and they are also provided.
All the techniques presented in this book have been validated throughout
extensive experimentation with real robotic platforms.
Barcelona, Spain Angel Santamaria-Navarro
May 2018 Joan Solà
Juan Andrade-Cetto