Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00336525" target="_blank" >RIV/68407700:21230/19:00336525 - isvavai.cz</a>

Result on the web

<a href="https://ieeexplore.ieee.org/document/8869298" target="_blank" >https://ieeexplore.ieee.org/document/8869298</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ETFA.2019.8869298" target="_blank" >10.1109/ETFA.2019.8869298</a>

Result language

angličtina

Original language name

Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning

Original language description

Cooperative carrying of large, cable-suspended payloads by a pair of cooperating unmanned aerial vehicles (UAVs) is tackled in this paper. The proposed system, involving a sampling-based motion planning algorithm and a model predictive control-based coordination of UAVs, aims to achieve a smooth and reliable flight performance in environments with obstacles. The motion planning is designed to satisfy constraints on relative positions of UAVs, which are defined from the cooperative transport task and by onboard mutual localization, which is used for real-time estimation of states of neighboring robots carrying the object. Besides, a guiding principle with a cost-driven expansion is employed to steer the growth of a Rapidly-exploring Random Tree (RRT) to keep the coupled system of UAVs and the object as close to desired mutual positions as possible. A significant deviation of the controlled system from the desired configuration, by increasing or decreasing the relative distance between UAVs carrying the cable-suspended object, is achieved only if it is required by environment constraints (e.g. in narrow passages), while the allowed limits are always satisfied. Using the guiding principle enables us to find feasible solutions of the problem in a reasonable short time using onboard computer even in environments with a complicated structure of obstacles. The proposed system was evaluated in numerous simulations, compared with state-of-the-art solutions using statistical sets of results, and its performance and reliability were verified in experiments in real-world conditions.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2019

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

24th IEEE Conference on Emerging Technologies and Factory Automation

ISBN

978-1-7281-0303-7

ISSN

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e-ISSN

1946-0759

Number of pages

8

Pages from-to

955-962

Publisher name

IEEE

Place of publication

Piscataway, NJ

Event location

Zaragoza

Event date

Sep 10, 2019

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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