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Autonomous Cargo Grabbing System for Drones Using Cameras and ROS
- 1 College of Mechanical and Electrical Engineering, Central South University, Changsha, China
- 2 College of Mechanical and Electrical Engineering, Central South University, Changsha, China
- 3 College of Mechanical and Electrical Engineering, Central South University, Changsha, China
* Author to whom correspondence should be addressed.
Abstract
With the rapid development of low-altitude economy, the functional requirements for logistics UAVs are constantly improving. In this paper, an unmanned aerial vehicle system (UAV) is proposed to realize autonomous grasping of goods. First of all, a new type of grasping device is proposed, which can be easily mounted on the UAV. The camera image stream mounted on the UAV was obtained through camera calibration and corrected. Subsequently, the object recognition algorithm was used to process the image frames, successfully identify the goods to be captured, and calculate the position and direction relationship between the UAV and the target cargo. Next, the speed of the drone is adjusted by the PID controller to achieve a stable landing above the target cargo. Then, the drone is equipped with a robotic claw innovatively designed by our team to complete the gripping of the goods. Subsequently, the drone lifted off and began to deliver cargo. Throughout the grabbing process, a laptop equipped with Ubuntu and ROS systems communicates with the drone via Wi-Fi. The feasibility of the whole system was proved by experiments.
Keywords
logistics drone, autonomous gripping, PID controller, mechanical claw, position and direction relationship.
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Cite this article
Fang,K.;Huang,Q.;Hao,Y. (2024). Autonomous Cargo Grabbing System for Drones Using Cameras and ROS. Applied and Computational Engineering,98,85-94.
Data availability
The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.
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Volume title: Proceedings of the 2nd International Conference on Functional Materials and Civil Engineering
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