Exploiting Image Moments for Aerial Manipulation Control

This paper proposes a new visual servo control scheme that endows flying manipulators with the capability of positioning with respect to visual targets. A camera attached to the UAV provides real-time images of the scene. We consider the approaching part of an aerial assembling task, where the manipulator carries a structure to be plugged into the visual target. In order to augment the system capabilities regarding the 3D interaction with the target, we propose to use image moments. The developed controller generates desired velocities to both the UAV and the manipulator, simultaneously. While taking into account the under-actuation specific to rotary-wing vehicles, it makes use of the system redundancy to realize potential sub-tasks. The joints limits avoidance is also guaranteed. The presented developments are validated by means of computer simulations.