Autonomous Collaborative Transport of a Beam-Type Payload by a Pair of Multi-rotor Helicopters

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00350888" target="_blank" >RIV/68407700:21230/21:00350888 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICUAS51884.2021.9476789" target="_blank" >https://doi.org/10.1109/ICUAS51884.2021.9476789</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS51884.2021.9476789" target="_blank" >10.1109/ICUAS51884.2021.9476789</a>

Result language
angličtina
Original language name
Autonomous Collaborative Transport of a Beam-Type Payload by a Pair of Multi-rotor Helicopters
Original language description
Collaborative payload carrying by multi-rotor Unmanned Aerial Vehicles (UAVs) is presented in this paper. We propose a unique control strategy for a pair of UAVs operating with a beam-type payload that is independent of precise localization techniques or unconventional sensor equipment, allowing the system to be operable outside of the laboratory environments. The designed control system comes out with the dynamics of the coupled system, which corresponds to a bicopter aerial vehicle. Such a configuration allows for the use of estimation and control methods typical for a conventional multi-rotor aerial vehicle. The proposed master-slave control system consists of a feedback controller and an MPC reference tracker on the side of the master agent. The slave agent serves as an actuator under command of the master. In addition to the control, a system for payload detection and localization is presented. We fuse the data from RGB and depth cameras to provide sufficient conditions during payload grasping. A state machine was designed to synchronize the master-slave collaborative operations, including payload grasping or response to failure.
Czech name
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Czech description
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Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2021 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN
978-0-7381-3115-3
ISSN
2373-6720
e-ISSN
2575-7296
Number of pages
9
Pages from-to
1139-1147
Publisher name
IEEE Xplore
Place of publication
—
Event location
Athens
Event date
Jun 15, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—

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