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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

ISBN

978-0-7381-3115-3

ISSN

2373-6720

e-ISSN

2575-7296

Počet stran výsledku

9

Strana od-do

1139-1147

Název nakladatele

IEEE Xplore

Místo vydání

—

Místo konání akce

Athens

Datum konání akce

15. 6. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—