Conference proceeding
TOWARDS AUTONOMOUS CARGO DEPLOYMENT AND RETRIEVAL BY AN UNMANNED AERIAL VEHICLE USING VISUAL SERVOING
DETC 2008: 32ND ANNUAL MECHANISMS AND ROBOTICS CONFERENCE, VOL. 2, PTS A & B, Vol.2, pp.841-849
01 Jan 2009
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
This paper presents the design and implementation of systems for autonomous tracking, payload pickup, and deployment of a 1/10th scale RC vehicle via a UAV helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a three degree of freedom gantry system with a camera mounted via a pan-tilt unit on the end effecter The pickup system uses vision to control the camera pan tilt unit as well as a second pan tilt unit with a hook mounted on the end of the arm. The ability of the pickup system to hook a target is tested by mounting it on the gantry while recorded helicopter velocities are played back by the gantry. A preliminary semi-autonomous deployment system is field tested, where a manually controlled RC car is transported by a UAV helicopter under computer control that is manually directed to GPS waypoints using a ground station.
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Details
- Title
- TOWARDS AUTONOMOUS CARGO DEPLOYMENT AND RETRIEVAL BY AN UNMANNED AERIAL VEHICLE USING VISUAL SERVOING
- Creators
- Noah R. Kuntz - Drexel Univ, Dept Elect & Comp Engn, Drexel Autonomous Syst Lab, Philadelphia, PA 19104 USAPaul Y. OhASME
- Publication Details
- DETC 2008: 32ND ANNUAL MECHANISMS AND ROBOTICS CONFERENCE, VOL. 2, PTS A & B, Vol.2, pp.841-849
- Conference
- DETC 2008: 32ND ANNUAL MECHANISMS AND ROBOTICS CONFERENCE, 32nd
- Publisher
- Amer Soc Mechanical Engineers
- Number of pages
- 9
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019350593204721
UN Sustainable Development Goals (SDGs)
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InCites Highlights
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- Web of Science research areas
- Engineering, Mechanical
- Robotics