2D Contour Following with an Unmanned Aerial Manipulator: Towards Tactile-Based Aerial Navigation

Salua Hamaza, Ioannis Georgilas, Thomas Richardson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper a force controller via energy tanks is implemented for novel applications in aerial contour follow. This control approach allows the aerial vehicle to trace out a boundary whilst in continuous contact with a surface by means of an actively compliant manipulator. This represents the first step towards tactile-based aerial navigation, which can be used to complement more traditional mapping approaches such as visual SLAM. Key results show that the energy-based approach can be used to apply a continuous shear force through the manipulator while the vehicle remains in contact with the surface of interest. Results also show the robustness and repeatability of this approach for prolonged aerial interaction, and the potential for future use in more complex, un-modeled environments.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherIEEE
Pages3664-3669
Number of pages6
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: 3 Nov 20198 Nov 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period3/11/198/11/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Hamaza, S., Georgilas, I., & Richardson, T. (2019). 2D Contour Following with an Unmanned Aerial Manipulator: Towards Tactile-Based Aerial Navigation. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 3664-3669). [8968591] (IEEE International Conference on Intelligent Robots and Systems). IEEE. https://doi.org/10.1109/IROS40897.2019.8968591