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

Laiacker, Maximilian und Schwarzbach, Marc und 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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Kurzfassung

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.

elib-URL des Eintrags:https://elib.dlr.de/100772/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Automatic Aerial Retrieval of a Mobile Robot Using Optical Target Tracking and Localization
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Laiacker, Maximilianmaximilian.laiacker (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Schwarzbach, Marcmarc.schwarzbach (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Kondak, Konstantinkonstantin.kondak (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:März 2015
Erschienen in:IEEE Aerospace Conference
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Ja
DOI:10.1109/AERO.2015.7118992
Verlag:IEEE
ISBN:978-1-4799-5379-0
Status:veröffentlicht
Stichwörter:UAV, Helicopter, Vision, Aerial Manipulation
Veranstaltungstitel:Aerospace Conference, 2015 IEEE
Veranstaltungsort:Big Sky, MT
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:7-14 March 2015
Veranstalter :IEEE
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - Vorhaben Multisensorielle Weltmodellierung (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition
Hinterlegt von: Laiacker, Maximilian
Hinterlegt am:14 Dez 2015 16:41
Letzte Änderung:20 Jun 2021 15:47

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