论文标题
详细的空中操纵器及其头像。第1部分：通信，系统的互连，控制和虚拟世界
Teleoperated aerial manipulator and its avatar. Part 1: Communication, system's interconnection, control, and virtual world
论文作者
论文摘要
空中操纵器可以执行的任务非常多样化。但是，如今，该技术还没有完全开发以自动完成复杂的任务。这就是为什么我们提出一个可以控制半自治的空中操纵器来完成此类任务的人类系统。此外，由虚拟现实系统的不断增长的趋势以及远程操作的趋势，我们开发了一个系统，该系统由：以PX4进行编程并在凉亭建模的空中操纵器模型组成，一种具有交互式控制器的虚拟现实浸入以及上述系统之间的互连。这项研究是更广泛的项目的第一部分。在这一部分中，我们在循环模拟中介绍了软件中的实验。这项工作的代码在我们的GitHub页面上解放了。另外，视频显示了进行的实验。
The tasks that an aerial manipulator can perform are incredibly diverse. However, nowadays the technology is not completely developed to achieve complex tasks autonomously. That's why we propose a human-in-the-loop system that can control a semi-autonomous aerial manipulator to accomplish these kinds of tasks. Furthermore, motivated by the growing trend of virtual reality systems, together with teleoperation, we develop a system composed of: an aerial manipulator model programmed in PX4 and modeled in Gazebo, a virtual reality immersion with an interactive controller, and the interconnection between the aforementioned systems via the Internet. This research is the first part of a broader project. In this part, we present experiments in the software in the loop simulation. The code of this work is liberated on our GitHub page. Also, a video shows the conducted experiments.
