An Intuitive End-to-End Human-UAV Interaction System for Field Exploration
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 t...
Main Authors: | , , , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
Frontiers Media S.A.
2020-02-01
|
Series: | Frontiers in Neurorobotics |
Subjects: | |
Online Access: | https://www.frontiersin.org/article/10.3389/fnbot.2019.00117/full |
id |
doaj-9d5f0c9a04ce4e73ac834062b26e7ab7 |
---|---|
record_format |
Article |
spelling |
doaj-9d5f0c9a04ce4e73ac834062b26e7ab72020-11-25T01:25:39ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182020-02-011310.3389/fnbot.2019.00117493827An Intuitive End-to-End Human-UAV Interaction System for Field ExplorationRan Jiao0Zhaowei Wang1Ruihang Chu2Mingjie Dong3Yongfeng Rong4Wusheng Chou5Wusheng Chou6School of Mechanical Engineering and Automation, Beihang University, Beijing, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing, ChinaCollege of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing, ChinaThe State Key Laboratory of Virtual Reality, Technology and Systems, Beihang University, Beijing, ChinaThis 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.https://www.frontiersin.org/article/10.3389/fnbot.2019.00117/fullUAVintuitive interactionpose estimationsuper-twistingextended state observerback-stepping |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ran Jiao Zhaowei Wang Ruihang Chu Mingjie Dong Yongfeng Rong Wusheng Chou Wusheng Chou |
spellingShingle |
Ran Jiao Zhaowei Wang Ruihang Chu Mingjie Dong Yongfeng Rong Wusheng Chou Wusheng Chou An Intuitive End-to-End Human-UAV Interaction System for Field Exploration Frontiers in Neurorobotics UAV intuitive interaction pose estimation super-twisting extended state observer back-stepping |
author_facet |
Ran Jiao Zhaowei Wang Ruihang Chu Mingjie Dong Yongfeng Rong Wusheng Chou Wusheng Chou |
author_sort |
Ran Jiao |
title |
An Intuitive End-to-End Human-UAV Interaction System for Field Exploration |
title_short |
An Intuitive End-to-End Human-UAV Interaction System for Field Exploration |
title_full |
An Intuitive End-to-End Human-UAV Interaction System for Field Exploration |
title_fullStr |
An Intuitive End-to-End Human-UAV Interaction System for Field Exploration |
title_full_unstemmed |
An Intuitive End-to-End Human-UAV Interaction System for Field Exploration |
title_sort |
intuitive end-to-end human-uav interaction system for field exploration |
publisher |
Frontiers Media S.A. |
series |
Frontiers in Neurorobotics |
issn |
1662-5218 |
publishDate |
2020-02-01 |
description |
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. |
topic |
UAV intuitive interaction pose estimation super-twisting extended state observer back-stepping |
url |
https://www.frontiersin.org/article/10.3389/fnbot.2019.00117/full |
work_keys_str_mv |
AT ranjiao anintuitiveendtoendhumanuavinteractionsystemforfieldexploration AT zhaoweiwang anintuitiveendtoendhumanuavinteractionsystemforfieldexploration AT ruihangchu anintuitiveendtoendhumanuavinteractionsystemforfieldexploration AT mingjiedong anintuitiveendtoendhumanuavinteractionsystemforfieldexploration AT yongfengrong anintuitiveendtoendhumanuavinteractionsystemforfieldexploration AT wushengchou anintuitiveendtoendhumanuavinteractionsystemforfieldexploration AT wushengchou anintuitiveendtoendhumanuavinteractionsystemforfieldexploration AT ranjiao intuitiveendtoendhumanuavinteractionsystemforfieldexploration AT zhaoweiwang intuitiveendtoendhumanuavinteractionsystemforfieldexploration AT ruihangchu intuitiveendtoendhumanuavinteractionsystemforfieldexploration AT mingjiedong intuitiveendtoendhumanuavinteractionsystemforfieldexploration AT yongfengrong intuitiveendtoendhumanuavinteractionsystemforfieldexploration AT wushengchou intuitiveendtoendhumanuavinteractionsystemforfieldexploration AT wushengchou intuitiveendtoendhumanuavinteractionsystemforfieldexploration |
_version_ |
1725112671153422336 |