University of Twente Student Theses
Docking a UAV using a robotic arm and computer vision
Baarsma, Jort Harm (2015) Docking a UAV using a robotic arm and computer vision.
|
PDF
2MB |
| Abstract: | The aim of this Thesis is to research the possibility of docking an airborne UAV using a robotic armand computer vision. In the scope of the SHERPA project on robot collaboration in Alpine rescue scenario‘s a robust and autonomous way of retrieving small scale UAV‘s is required. In a scenario where landing the UAV on a mobile ground station is not possible and landing on the ground could be harmful to the drone, docking the UAV while it is airborne using a robotic arm would be the best solution. In this work a system is presented to accurately follow and dock an UAV near a ground vehicle using an external monocular camera mounted on a robotic armand internal UAV sensors. The system combines the strengths of visual pose estimation and IMU motion tracking while minimizing the effect of their weaknesses. The result is a system with an accurate pose estimate and which is also robust through temporary occlusion or motion blur. A functional proof of principle system was implemented using Robotic Operating System and a KUKA LWR4+ robot armto show the advantages provided by the system. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 50 technical science in general |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/68407 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Show download statistics for this publication
Show download statistics for this publicationRepository Staff Only: item control page