Visual Servoing for Teleoperation Using a Tethered UAV
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© 2017 IEEE. This paper presents a visual servoing approach for robotic teleoperation using a tethered unmanned aerial vehicle (UAV). When teleoperating a robot, human operator's perception of the remote situation is limited by the robot's onboard camera. This deteriorates situational awareness and poses challenges on operation precision and efficiency. Tele- operated visual assistants are used in practice. For example, in Fukushima Daiichi nuclear disaster decommissioning, a secondary ground robot is used to follow and watch the primary robot. However, this requires two robots and 2-4 operators to perform one task. Furthermore, it introduces more problems, such as extra teamwork demand, miscommunication risk, suboptimal viewpoints. This work proposes to use a tethered UAV to replace the extra ground robot and human operators. In order to visually assist the primary robot autonomously, a visual servoing algorithm is developed and implemented based on a fiducial marker mounted on the primary robot, representing the operator's point of interest. Visual servoing configuration is controlled using 6 Degrees of Freedom of the fiducial. Servoing performances from physical experiments are analyzed. This paper lays the groundwork for and points out the direction of further visual assisting research.
author list (cited authors)
Xiao, X., Dufek, J., & Murphy, R.