论文标题
基于视觉的目标截距使用空中操纵
Vision based Target Interception using Aerial Manipulation
论文作者
论文摘要
无人机自主环境中对象的选择性拦截是一个有趣的问题。在这项工作中，进行了基于视觉的拦截。这个问题是2020年穆罕默德·本·扎耶德国际机器人挑战赛的挑战1的一部分，在那里，气球被保存在五个随机位置，以供无人机自主探索，检测，接近和拦截。与文献中的正常拦截问题相比，该问题需要执行不同的公式。这项工作详细介绍了此问题的不同方面，从视觉到操纵器设计。使用机器人操作系统（ROS）通信体系结构在硬件上实施框架工作。
Selective interception of objects in unknown environment autonomously by UAVs is an interesting problem. In this work, vision based interception is carried out. This problem is a part of challenge 1 of Mohammed Bin Zayed International Robotic Challenge, 2020, where, balloons are kept at five random locations for the UAVs to autonomously explore, detect, approach and intercept. The problem requires a different formulation to execute compared to the normal interception problems in literature. This work details the different aspect of this problem from vision to manipulator design. The frame work is implemented on hardware using Robot Operating System (ROS) communication architecture.
