Autonomous Door Opening With the Interacting-BoomCopter Unmanned Aerial Vehicle
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Abstract This paper presents the design of a light-weight, compliant end-effector and an image processing strategy that together enable the Interacting-BoomCopter (I-BC) unmanned aerial vehicle (UAV) to perform an autonomous door-opening task. Autonomy is achieved through the use of feedback from an onboard camera for door detection & localization, and embedded force and distance sensors in the end-effector for detecting the physical interaction with the door. The results of several experimental flight tests are presented in which the end-effector and image processing strategy were deployed on the I-BC to successfully open a small enclosure door autonomously.
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2015 ◽
Vol 3
(4)
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pp. 192-204
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2019 ◽
Vol 38
(4)
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pp. 403-421
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Keyword(s):
2018 ◽
Vol 161
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pp. 03021
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