Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
Cooperative Transport of Large Objects by a Pair of Unmanned Aerial Systems using Sampling-based Motion Planning
Popis výsledku anglicky
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.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
—
OECD FORD obor
20204 - Robotics and automatic control
Návaznosti výsledku
Projekt
Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Ostatní
Rok uplatnění
2019
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
24th IEEE Conference on Emerging Technologies and Factory Automation
ISBN
978-1-7281-0303-7
ISSN
—
e-ISSN
1946-0759
Počet stran výsledku
8
Strana od-do
955-962
Název nakladatele
IEEE
Místo vydání
Piscataway, NJ
Místo konání akce
Zaragoza
Datum konání akce
10. 9. 2019
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
—