Vision-based orientation control of multi-rotor UAV for aerial manipulation

抄録

We described an FPGA-based on-board orientation control system of an aerial robot developed for an aerial manipulation. The platform in this study is the multi-rotor aerial robot equipped with an upward directed robotic hand on top of the airframe developed for high altitude manipulation tasks. In order to grasp a bar-like object by using the robot, orientation of the target bar object is measured based on image data obtained by a monocular camera mounted on the robot, and yaw angle of the robot is controlled. In the FPGA board, the image data is processed in real time. A novel method for calculating the angle of the bar is introduced for avoiding implementing complicated function blocks such as an atan function. In experiments, quick orientation control of the aerial robot is achieved.