Autonomous Micro Aerial Vehicles are deployed for a variety tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time without the need to frequently replace batteries. This paper addresses the Active Visual Perching (AVP) control problem to autonomously perch on inclined surfaces up to $90^\circ$. Our approach generates dynamically feasible trajectories to navigate and perch on a desired target location, while taking into account actuator and Field of View (FoV) constraints. By replanning in mid-flight, we take advantage of more accurate target localization increasing the perching maneuver's robustness to target localization or control errors. We leverage the Karush-Kuhn-Tucker (KKT) conditions to identify the compatibility between planning objectives and the visual sensing constraint during the planned maneuver. Furthermore, we experimentally identify the corresponding boundary conditions that maximizes the spatio-temporal target visibility during the perching maneuver. The proposed approach works on-board in real-time with significant computational constraints relying exclusively on cameras and an Inertial Measurement Unit (IMU). Experimental results validate the proposed approach and shows the higher success rate as well as increased target interception precision and accuracy with respect to a one-shot planning approach, while still retaining aggressive capabilities with flight envelopes that include large excursions from the hover position on inclined surfaces up to 90$^\circ$, angular speeds up to 750~deg/s, and accelerations up to 10~m/s$^2$.
翻译:自动微型飞行器用于各种任务,包括监视和监测; 检查和凝视使飞行器能够在不飞行的情况下监测目标,保存电池动力,增加整个任务时间,而不需要经常更换电池; 本文述及主动视觉透视(AVP)控制问题,在倾斜面上自动穿透,最高达90 ⁇ circ$; 我们的方法产生了动态可行的在理想目标位置导航和穿透轨道的轨道,同时考虑到动作器和观察场(FoV)的限制; 通过在飞行中重新规划,我们利用更准确的目标点定位,提高精准动作对定位或控制错误的力度; 我们利用卡鲁什-库恩-陶克(KKKT)条件,以确定规划目标与计划操作期间的视觉感测限制之间的兼容性。 此外, 我们实验性地确定了相应的边界条件,在仔细调整期间最大限度地提高蒸气-时间目标的可见度。 拟议的方法在实时操作上,大量计算限制完全依赖摄像机和直径定位,同时进行大规模飞行测量(IMUMAU), 和直径测量,同时显示大型的精确度和精确度。