Docking two multirotors in midair using relative vision measurements

11/11/2020
by   Karan P. Jain, et al.
0

Modular robots have been rising in popularity for a variety of applications, and autonomous midair docking is a necessary task for real world deployment of these robots. We present a state estimator based on the extended Kalman filter for relative localization of one multirotor with respect to another using only onboard sensors, specifically an inertial measurement unit and a camera-marker pair. Acceleration and angular velocity measurements along with relative pose measurements from a camera on the first multirotor looking at a marker on the second multirotor are used to estimate the relative position and velocity of the first multirotor with respect to the second, and the absolute attitude of the first multirotor. We also present a control architecture to use these onboard state estimates to control the first multirotor at a desired setpoint with respect to the second. The performance of the estimator and control architecture are experimentally validated by successfully and repeatably performing midair docking – a task that requires relative position precision on the order of a centimeter.

READ FULL TEXT

page 1

page 2

page 3

page 4

page 5

page 6

page 7

research
04/09/2021

Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update

This paper proposes a state estimator for legged robots operating in sli...
research
02/25/2018

Robust Target-relative Localization with Ultra-Wideband Ranging and Communication

In this paper we propose a method to achieve relative positioning and tr...
research
02/02/2023

CREPES: Cooperative RElative Pose EStimation towards Real-World Multi-Robot Systems

Mutual localization plays a crucial role in multi-robot systems. In this...
research
04/21/2021

Relative Position Estimation Between Two UWB Devices with IMUs

For a team of robots to work collaboratively, it is crucial that each ro...
research
05/14/2020

Robust On-Manifold Optimization for Uncooperative Space Relative Navigation with a Single Camera

Optical cameras are gaining popularity as the suitable sensor for relati...
research
03/07/2023

A Dataset and Comparative Study for Vision-Based Relative Position Estimation of Multirotor Teams Flying in Close Proximity

Multirotor teams are useful for inspection, delivery, and construction t...
research
08/23/2019

Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping

In this paper, we propose a visual-inertial framework able to efficientl...

Please sign up or login with your details

Forgot password? Click here to reset