Visual coordinated landing of a UAV on a mobile robot manipulator

Author

Lippiello, Vincenzo ; Mebarki, Rafik ; Ruggiero, Fabio

Author_Institution

Dept. of Electr. Eng. & Inf. Technol., Univ. of Naples Federico II, Naples, Italy

fYear

2013

fDate

21-26 Oct. 2013

Firstpage

1

Lastpage

7

Abstract

In this paper an image-based visual-servoing control law for the coordinated landing of a VToL UAV on an actuated landing platform is proposed. The landing platform is carried by a mobile manipulator composed of a mobile platform and a robotic arm. The UAV is endowed with a downward camera employed for the coordination of the landing manoeuvres. The presence of redundancy in the system at the task level, the intrinsic redundancy of the mobile manipulator, and the under-actuation of the UAV are explicitly addressed into the proposed control law. The effectiveness of the proposed approach is tested though simulations.

Keywords

aircraft landing guidance; autonomous aerial vehicles; manipulators; mobile robots; path planning; robot vision; visual servoing; UAV under-actuation; VToL UAV; actuated landing platform; downward camera; image-based visual-servoing control law; intrinsic redundancy; landing manoeuvres; mobile platform; mobile robot manipulator; robotic arm; visual coordinated landing; Cameras; Joints; Manipulators; Mobile communication; Robot kinematics; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on

Conference_Location

Linkoping

Print_ISBN

978-1-4799-0879-0

Type

conf

DOI

10.1109/SSRR.2013.6719338

Filename

6719338