Visual Guidance of Unmanned Aerial Manipulators

✍ Scribed by Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto

• Publisher: Springer International Publishing
• Year: 2019
• Tongue: English
• Leaves: 155
• Series: Springer Tracts in Advanced Robotics 125
• Edition: 1st ed.
• Category: Library

✦ Synopsis

This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information.

For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed.

Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target.

The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions.

All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation.

The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.

✦ Table of Contents

Front Matter ....Pages i-xix
Introduction (Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto)....Pages 1-4
Robot State Estimation (Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto)....Pages 5-55
Visual Servo (Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto)....Pages 57-77
Task Control (Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto)....Pages 79-133
Closing Remarks (Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto)....Pages 135-140

✦ Subjects

Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Control