TY - JOUR
T1 - Robot vision
T2 - Obstacle-avoidance techniques for unmanned aerial vehicles
AU - Carloni, Raffaella
AU - Lippiello, Vincenzo
AU - D'Auria, Massimo
AU - Fumagalli, Matteo
AU - Mersha, Abeje Y.
AU - Stramigioli, Stefano
AU - Siciliano, Bruno
PY - 2013/12
Y1 - 2013/12
N2 - In this article, a vision-based technique for obstacle avoidance and target identification is combined with haptic feedback to develop a new teleoperated navigation system for underactuated aerial vehicles in unknown environments. A three-dimensional (3-D) map of the surrounding environment is built by matching the keypoints among several images, which are acquired by an onboard camera and stored in a buffer together with the corresponding estimated odometry. Hence, based on the 3-D map, a visual identification algorithm is employed to localize both obstacles and the desired target to build a virtual field accordingly. A bilateral control system has been developed such that an operator can safely navigate in an unknown environment and perceive it by means of a vision-based haptic force-feedback device. Experimental tests in an indoor environment verify the effectiveness of the proposed teleoperated control.
AB - In this article, a vision-based technique for obstacle avoidance and target identification is combined with haptic feedback to develop a new teleoperated navigation system for underactuated aerial vehicles in unknown environments. A three-dimensional (3-D) map of the surrounding environment is built by matching the keypoints among several images, which are acquired by an onboard camera and stored in a buffer together with the corresponding estimated odometry. Hence, based on the 3-D map, a visual identification algorithm is employed to localize both obstacles and the desired target to build a virtual field accordingly. A bilateral control system has been developed such that an operator can safely navigate in an unknown environment and perceive it by means of a vision-based haptic force-feedback device. Experimental tests in an indoor environment verify the effectiveness of the proposed teleoperated control.
UR - http://www.scopus.com/inward/record.url?scp=84890552773&partnerID=8YFLogxK
U2 - 10.1109/MRA.2013.2283632
DO - 10.1109/MRA.2013.2283632
M3 - Journal article
AN - SCOPUS:84890552773
SN - 1070-9932
VL - 20
SP - 22
EP - 31
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 4
M1 - 6651701
ER -