Including Image-Based Perception in Disturbance Observer for Warehouse Drones
Including Image-Based Perception in Disturbance Observer for Warehouse Drones
Abstract Grasping and releasing objects would cause oscillations to delivery drones in the warehouse. To reduce such undesired oscillations, this paper treats the to-be-delivered object as an unknown external disturbance and presents an image-based disturbance observer (DOB) to estimate and reject such disturbance. Different from the existing DOB technique that …