Paper Info
Title
FPGA-Based Fast Response Image Analysis for Orientational Control in Aerial Manipulation Tasks.
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.
Year
DOI
Venue
2018
https://doi.org/10.1007/s11265-017-1286-y
Signal Processing Systems
Keywords
Field
DocType
FPGA,Embedded image processing,Parallel hough transform,Aerial manipulation,UAV
Computer vision,GRASP,Computer science,Field-programmable gate array,Euler angles,Hough transform,Real-time computing,Airframe,Drone,Artificial intelligence,Control system,Robot
Journal
Volume
Issue
ISSN
90
6
1939-8018
Citations 
PageRank 
References 
0
0.34
12
Authors
3
Name
Order
Citations
PageRank
Robert Ladig120.84
Leewiwatwong Suphachart200.68
Kazuhiro Shimonomura35713.11