A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Access content directly
Conference Papers Year : 2021

A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Abstract

In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integrate the novel Flying End-Effector paradigm and a Hybrid Visual Servoing (HVS) scheme to design a general control architecture for fully-actuated aerial robots. Thanks to the proposed solution, a fully-actuated aerial robot can autonomously accomplish tasks that require both perception and physical interaction without resorting to any external force/torque sensor. The control architecture is entirely described, features a wrench observer and an admittance filter, and is subsequently validated on real experiments. The code for the proposed control architecture is provided open-source.
Fichier principal
Vignette du fichier
root.pdf (3.32 Mo) Télécharger le fichier
A General Control Architecture for Visual Servoing and Physical Interaction Tasks for MRAVs.mp4 (15.26 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Licence : CC BY NC - Attribution - NonCommercial

Dates and versions

hal-03327702 , version 1 (09-01-2024)

Identifiers

Cite

Gianluca Corsini, Martin Jacquet, Antonio Enrique Jimenez-Cano, Amr Afifi, Daniel Sidobre, et al.. A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles. The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, Oct 2021, Biograd na Moru, Croatia. ⟨10.1109/AIRPHARO52252.2021.9571053⟩. ⟨hal-03327702⟩
160 View
252 Download

Altmetric

Share

Gmail Facebook X LinkedIn More