Unmanned Aerial Vehicles(UAVs) are attaining more and more maneuverability and sensory ability as a promising teleoperation platform for intelligent interaction with the environments. This work presents a novel 5-degree-of-freedom (DoF) unmanned aerial vehicle (UAV) cyber-physical system for aerial manipulation. This UAV's body is capable of exerting powerful propulsion force in the longitudinal direction, decoupling the translational dynamics and the rotational dynamics on the longitudinal plane. A high-level impedance control law is proposed to drive the vehicle for trajectory tracking and interaction with the environments. In addition, a vision-based real-time target identification and tracking method integrating a YOLO v3 real-time object detector with feature tracking, and morphological operations is proposed to be implemented onboard the vehicle with support of model compression techniques to eliminate latency caused by video wireless transmission and heavy computation burden on traditional teleoperation platforms.
翻译:无人驾驶航空飞行器(无人驾驶飞行器)作为与环境进行智能互动的有希望的远程操作平台,其机动性和感官能力正在日益增强,成为与环境进行智能互动的有希望的远程操作平台,这项工作为空中操纵提供了一个新型的5度自由无人驾驶飞行器(无人驾驶飞行器)网络物理系统,无人驾驶飞行器的身体能够在纵向方向上施加强大的推进力,使翻译动态和纵向平面的旋转动态脱钩。建议制定一项高强度的阻力控制法,推动该飞行器进行轨迹跟踪和与环境互动。此外,还提议采用基于愿景的实时目标识别和跟踪方法,将YOLO v3实时物体探测器与功能跟踪结合起来,并提议在飞行器上实施形态操作,同时支持模型压缩技术,以消除视频无线传输和传统远程操作平台的重算负担造成的静脉冲。