Teleoperation of a Suspended Aerial Manipulator Using a Handheld Camera With an IMU

Abstract

This paper presents a simple, low-cost teleoperation system. The leader device is a handheld camera integrated with an Inertial Measurement Unit (IMU), making it feasible to use a modern smartphone for this purpose. Existing leader devices require expensive and/or complex hardware, and sensors to measure both the user interactions and to control the follower device. By contrast, the proposed method uses the handheld camera both as a leader device and as a sensor to control the position of the follower device through visual servoing. To the best of the author's knowledge, this visual servoing scenario where the camera is held by a user has not been thoroughly studied. The measurements from the handheld device and the follower are fused together in an Extended Kalman Filter (EKF) to improve further the pose estimation. A Virtual Camera and IMU (VCI) concept is introduced to filter hand tremors for teleoperation efficiency without hindering the bandwidth of the relative pose control loop. The EKF and the VCI performance are assessed experimentally by teleoperating a Suspended Aerial Manipulator (AMES) prototype.