Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F24%3APU154992" target="_blank" >RIV/00216305:26230/24:PU154992 - isvavai.cz</a>
Result on the web
<a href="https://www.icas.org/icas_archive/icas2024/data/preview/icas2024_0879.htm" target="_blank" >https://www.icas.org/icas_archive/icas2024/data/preview/icas2024_0879.htm</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints
Original language description
Physical interaction of Unmanned Aerial Vehicles (UAVs) with it's environment has the potential enabling many complex missions in both scientific and industrial domains. This paper deals with coupled Model Predictive Control (MPC) for an UAV with attached robotic manipulator. Adaptive augmentation loop is used in the trajectory tracking scheme to compensate for the manipulator dynamics and increase precision of aerial grasping tasks. Perception constraints ensure that the payload stays within camera field of view. Conducted numerical simulations show effectiveness of the coupled MPC scheme for aerial grasping and its safety enhanced by the imposed constraints.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
ICAS Proceedings
ISBN
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ISSN
2958-4647
e-ISSN
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Number of pages
15
Pages from-to
1-15
Publisher name
International Council of the Aeronautical Sciences
Place of publication
Florence
Event location
Florence
Event date
Sep 9, 2024
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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