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FPGA-Based Fast Response Image Analysis for Orientational Control in Aerial Manipulation Tasks

FPGA-Based Fast Response Image Analysis for Orientational Control in Aerial Manipulation Tasks In this paper an FPGA-based on-board control system for autonomous orientation of an aerial robot to assist in aerial manipulation tasks is introduced. The system is able to apply yaw control to aid an operator in precisely positioning a drone when it is nearby a bar-like object. This is achieved by applying parallel Hough transform combined with a novel image space separation method, enabling highly reliable results in various circumstances combined with high performance. The feasibility of this approach is shown by applying the system to a multi-rotor aerial robot equipped with an upward directed robotic hand on top of the airframe developed for high altitude manipulation tasks. In order to grasp a bar-like object, the object’s orientation is derived from the image data obtained by a monocular camera mounted on the robot. This data is then analyzed by the on-board FPGA system to control yaw angle of the aerial robot. Our experiments show that use of this control system achieves reliable yaw-orientation control. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Journal of Signal Processing Systems Springer Journals

FPGA-Based Fast Response Image Analysis for Orientational Control in Aerial Manipulation Tasks

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Publisher
Springer Journals
Copyright
Copyright © 2017 by Springer Science+Business Media, LLC
Subject
Engineering; Signal,Image and Speech Processing; Circuits and Systems; Electrical Engineering; Image Processing and Computer Vision; Pattern Recognition; Computer Imaging, Vision, Pattern Recognition and Graphics
ISSN
1939-8018
eISSN
1939-8115
DOI
10.1007/s11265-017-1286-y
Publisher site
See Article on Publisher Site

Abstract

In this paper an FPGA-based on-board control system for autonomous orientation of an aerial robot to assist in aerial manipulation tasks is introduced. The system is able to apply yaw control to aid an operator in precisely positioning a drone when it is nearby a bar-like object. This is achieved by applying parallel Hough transform combined with a novel image space separation method, enabling highly reliable results in various circumstances combined with high performance. The feasibility of this approach is shown by applying the system to a multi-rotor aerial robot equipped with an upward directed robotic hand on top of the airframe developed for high altitude manipulation tasks. In order to grasp a bar-like object, the object’s orientation is derived from the image data obtained by a monocular camera mounted on the robot. This data is then analyzed by the on-board FPGA system to control yaw angle of the aerial robot. Our experiments show that use of this control system achieves reliable yaw-orientation control.

Journal

Journal of Signal Processing Systems – Springer Journals

Published: Sep 30, 2017

References

  • A new unmanned aerial vehicle synthetic aperture radar for environmental monitoring
    Koo, VC; Chan, YK; Vetharatnam, G; Chua, MY; Lim, CH; Lim, CS; Thum, C; Lim, TS; bin Ahmad, Z; Mahmood, KA
  • Visual servoing of quadrotors for perching by hanging from cylindrical objects
    Thomas, J; Loianno, G; Daniilidis, K; Kumar, V