Abstract
This paper presents an intuitive end-to-end interaction system between a human and a hexacopter Unmanned Aerial Vehicle (UAV) for field exploration in which the UAV can be commanded by natural human poses. Moreover, LEDs installed on the UAV are used to communicate the state and intents of the UAV to the human as feedback throughout the interaction. A real time multi-human pose estimation system is built that can perform with low latency while maintaining competitive performance. The UAV is equipped with a robotic arm, kinematic and dynamic attitude models for which are provided by introducing the center of gravity (COG) of the vehicle. In addition, a super-twisting extended state observer (STESO)-based back-stepping controller (BSC) is constructed to estimate and attenuate complex disturbances in the attitude control system of the UAV, such as wind gusts, model uncertainties, etc. A stability analysis for the entire control system is also presented based on the Lyapunov stability theory. The pose estimation system is integrated with the proposed intelligent control architecture to command the UAV to execute an exploration task stably. Additionally, all the components of this interaction system are described. Several simulations and experiments have been conducted to demonstrate the effectiveness of the whole system and its individual components.
Highlights
Unmanned Aerial Vehicle (UAV), which have been increasingly used as human assistants in various contexts in recent years, are developing very rapidly
To demonstrate the validity and performance of the proposed super-twisting extended state observer (STESO) and corresponding control scheme, several simulations of attitude tracking under external disturbance torque will be conducted using a MATLAB/SIMULINK program with a fixed-sampling time of 1 ms
An NVIDIA TX2 equipped with six CPU cores and 256 CUDA cores is utilized in the interaction system in which the human pose estimation and depth computation tasks are loaded
Summary
UAVs, which have been increasingly used as human assistants in various contexts in recent years, are developing very rapidly. They can be applied in areas to which humans cannot reach, such as for aerial photography, field exploration, etc. It can be classified into two kinds, traditional human-computer interfaces and direct interfaces As to the former, Rodriguez et al (2013) designed ground control station software that is fully based on Intuitive Human-UAV Interaction System open-source libraries and developed it for a platform composed of multiple UAVs for surveillance missions. We use the direct interaction mode for the design of a natural and intuitive human-UAV interaction system as an assistant for field exploration.
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