论文标题
使用相对视力测量在空中对接两个多动物
Docking two multirotors in midair using relative vision measurements
论文作者
论文摘要
模块化机器人在各种应用程序中的普及率一直在增长，自动隔间对接是这些机器人现实部署的必要任务。我们提出了一个基于扩展的Kalman滤波器的状态估计器，用于仅使用板载传感器，特别是惯性测量单元和摄像头标记对的一个多旋转器相对于另一个多旋转器的相对定位。加速度和角速度测量值以及第一个多电流上的摄像机的相对姿势测量值使用第二个多电流上的标记来估计第二个多电流相对于第二个多电流的相对位置和速度，以及第一多动物的绝对态度。我们还提出了一个控制体系结构，以使用这些板载状态估计值来控制第一个相对于第二个的设定点。估计器和控制体系结构的性能通过成功，重复执行的中间对接实验验证 - 该任务需要在厘米的顺序上相对位置精度。
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.
