A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles
Résumé
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.
Domaines
Robotique [cs.RO]
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A General Control Architecture for Visual Servoing and Physical Interaction Tasks for MRAVs.mp4 (15.26 Mo)
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