2022/10/27 by Caiwu Ding, Ding, Caiwu, Hongwu Peng +5
Computer Science · Engineering · #C.3 #FOS: Computer and information sciences #I.4 #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Video Surveillance and Tracking Methods
paper · pdf · doi:10.48550/arxiv.2210.15632
openalex publication_date 2022/10/27 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.