Target interception is an interesting application of unmanned aerial vehicles (UAVs). This requires dedicated system software and manipulation mechanism. We propose a vision based interception of swaying but tethered target in an environment with disturbance. The targets are detected, approached and intercepted. The process involves exploration, vision-based object detection and servoing to the target and terminal contact. This is followed by the confirmation of interception. The solution is formulated such that interception is guaranteed in an unknown environment. A manipulator is designed to achieve successful interception. The software framework is developed using ROS and simulated in Gazebo. It is also validated through field experiments. The proposed solution could be used for applications like drone-based fruit picking, counter-UAV systems, trimming or removing creepers from power lines, among many other similar applications.
Vision-Based Interception of Tethered and Swaying Targets Using Aerial Manipulation
Algorithms for Intelligent Systems
Proceedings of International Conference on Communication and Computational Technologies ; Chapter : 62 ; 815-829
2022-09-27
15 pages
Article/Chapter (Book)
Electronic Resource
English