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Automatic Aerial Retrieval of a Mobile Robot Using Optical Target Tracking and Localization

Laiacker, Maximilian and Schwarzbach, Marc and Kondak, Konstantin (2015) Automatic Aerial Retrieval of a Mobile Robot Using Optical Target Tracking and Localization. In: IEEE Aerospace Conference. IEEE. Aerospace Conference, 2015 IEEE, 7-14 March 2015, Big Sky, MT. DOI: 10.1109/AERO.2015.7118992 ISBN 978-1-4799-5379-0

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In this paper we present a system for automatic deployment and retrieval of a mobile ground robot using a helicopter UAV. Our system allows using a mobile outdoor robot in areas that cannot be reached other than from the air and aerial measurements alone are not sufficient. For example a ground robot can perform in situ measurements and even take samples that can later be analyzed when the robot is returned by the aerial system. We use a helicopter UAV with a rotor diameter of 1.8m and a takeoff mass of 11kg as a proof-of-concept platform. The UAV is equipped with our modular autopilot system. The real time control and navigation is done by the flight control computer. The target detection is done by the image processing computer connected to a downward looking camera. In addition to the autopilot payload the helicopter can carry an extra mass of around 2kg. The ground robot we used had a mass of 1.1kg and is equipped with a GPS sensor and a communication system that is used to send its current position estimate to the UAV. The aerial system is using a high precision hover position controller and a multi-sensor fusion module which is used for detection and precise localization of the mobile robot. It combines GPS-based localization for obtaining an initial estimation of the ground robot location and a vision-system for its accurate localization. We use a known optical marker on the ground robot for its precise localization relative to the aerial system. All control and sensor processing and fusion are performed on board of the UAV. The docking system we developed is very similar to the probe-and-drogue aerial refueling system. It is used to compensate position disturbances of the UAV during the docking maneuver. Results from multiple successful outdoor flight experiments will be presented.

Item URL in elib:https://elib.dlr.de/100772/
Document Type:Conference or Workshop Item (Speech)
Title:Automatic Aerial Retrieval of a Mobile Robot Using Optical Target Tracking and Localization
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Laiacker, Maximilianmaximilian.laiacker (at) dlr.deUNSPECIFIED
Schwarzbach, Marcmarc.schwarzbach (at) dlr.deUNSPECIFIED
Kondak, Konstantinkonstantin.kondak (at) dlr.deUNSPECIFIED
Date:March 2015
Journal or Publication Title:IEEE Aerospace Conference
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/AERO.2015.7118992
Keywords:UAV, Helicopter, Vision, Aerial Manipulation
Event Title:Aerospace Conference, 2015 IEEE
Event Location:Big Sky, MT
Event Type:international Conference
Event Dates:7-14 March 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Laiacker, Maximilian
Deposited On:14 Dec 2015 16:41
Last Modified:31 Jul 2019 19:57

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