Hybrid visual servoing for aerial grasping with hierarchical task-priority control
- 1 June 2015
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 617-623
- https://doi.org/10.1109/med.2015.7158815
Abstract
In this paper a hybrid visual servoing with a dynamic and hierarchical task-priority control framework is proposed for the control of an aerial vehicle endowed with a robot arm. The proposed task composition algorithm retains the main benefits of classical image-based and position-based control scheme, that can be suitably combined in a common hybridcontrol framework.Moreover, the under-actuation of the vehicle base has been systematically taken into account within a general formulation, while a dynamic smooth activation/deactivation mechanism is proposed to avoid discontinuity in the control action. Simulations have been proposed to demonstrate the effectiveness of the proposed approach.Keywords
This publication has 16 references indexed in Scilit:
- Towards valve turning using a dual-arm aerial manipulatorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2014
- Image‐Based Control for Aerial ManipulationAsian Journal of Control, 2014
- Velocity estimation of an UAV using visual and IMU data in a GPS-denied environmentPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2013
- Autonomous transportation and deployment with aerial robots for search and rescue missionsJournal of Field Robotics, 2011
- Cooperative manipulation and transportation with aerial robotsPublished by Robotics: Science and Systems Foundation ,2009
- Stability Analysis for Prioritized Closed-Loop Inverse Kinematic Algorithms for Redundant Robotic SystemsIEEE Transactions on Robotics, 2009
- RoboticsPublished by Springer Science and Business Media LLC ,2009
- Modeling and control of VTOL UAVs interacting with the environmentPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2008
- Means and Averaging in the Group of RotationsSIAM Journal on Matrix Analysis and Applications, 2002
- A robust approach for the control of the center of mass with inverse kineticsComputers & Graphics, 1996