Unmanned Aerial Vehicles(UAVs) are attaining more and more maneuverability
and sensory ability as a promising teleoperation platform for intelligent
interaction with the environments. This work presents a novel
5-degree-of-freedom (DoF) unmanned aerial vehicle (UAV) cyber-physical system
for aerial manipulation. This UAV's body is capable of exerting powerful
propulsion force in the longitudinal direction, decoupling the translational
dynamics and the rotational dynamics on the longitudinal plane. A high-level
impedance control law is proposed to drive the vehicle for trajectory tracking
and interaction with the environments. In addition, a vision-based real-time
target identification and tracking method integrating a YOLO v3 real-time
object detector with feature tracking, and morphological operations is proposed
to be implemented onboard the vehicle with support of model compression
techniques to eliminate latency caused by video wireless transmission and heavy
computation burden on traditional teleoperation platforms.Comment: Newsletter of IEEE Technical Committee on Cyber-Physical System