Autonomous aerial robot for high-speed search and intercept applications
Authors
Rodríguez Ramos, Alejandro; Álvarez Fernández, Adrián; Bavle, Hriday; Rodríguez Vázquez , Javier; Lu, Liang; [et al.]Identifiers
Permanent link (URI): http://hdl.handle.net/10017/60181DOI: 10.55417/fr.2022044
ISSN: 2771-3989
Publisher
Field Robotics
Date
2022-06-23Funders
Agencia Estatal de Investigación
Khalifa University
Bibliographic citation
Rodríguez Ramos, A. [et al.], 2022, "Autonomous aerial robot for high-speed search and intercept applications", Field Robotics, vol. 2, pp. 1320-1350.
Keywords
MBZIRC
UAV
Autonomous
Outdoor
Grasping
Project
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-100847-B-C21/ES/MISIONES COORDINADAS COMPLEJAS DE INSPECCION Y SEGURIDAD DESARROLLADAS POR UAVS EN COOPERACION CON UGV/
2020-MBZIRC-10
Document type
info:eu-repo/semantics/article
Version
info:eu-repo/semantics/publishedVersion
Publisher's version
https://mail.journalfieldrobotics.org/Field_Robotics/SI_MBZIRC.htmlRights
Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
© 2022 The authors
Access rights
info:eu-repo/semantics/openAccess
Abstract
In recent years, high-speed navigation and environment interaction in the context of
aerial robotics has become a field of interest for several academic and industrial research studies. In
particular, Search and Intercept (SaI) applications for aerial robots pose a compelling research
area due to their potential usability in several environments. Nevertheless, SaI tasks involve a
challenging development regarding sensory weight, onboard computation resources, actuation design,
and algorithms for perception and control, among others. In this work, a fully autonomous aerial
robot for high-speed object grasping has been proposed. As an additional subtask, our system is able
to autonomously pierce balloons located in poles close to the surface. Our first contribution is the
design of the aerial robot at an actuation and sensory level consisting of a novel gripper design with
additional sensors enabling the robot to grasp objects at high speeds. The second contribution is
a complete software framework consisting of perception, state estimation, motion planning, motion
control, and mission control in order to rapidly and robustly perform the autonomous grasping
mission. Our approach has been validated in a challenging international competition and has shown
outstanding results, being able to autonomously search, follow, and grasp a moving object at 6 m/s
in an outdoor environment.
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