Aggressive Flight With Suspended Payloads Using Vision-Based Control

被引:89
作者
Tang, Sarah [1 ]
Wuest, Valentin [2 ]
Kumar, Vijay [1 ]
机构
[1] Univ Penn, Gen Robot Automat Sensing & Percept Lab, Philadelphia, PA 19104 USA
[2] ETH, Dept Mech Engn, CH-8092 Zurich, Switzerland
来源
IEEE ROBOTICS AND AUTOMATION LETTERS | 2018年 / 3卷 / 02期
关键词
Aerial systems: mechanics and control; motion control; TRAJECTORY GENERATION; QUADROTOR;
D O I
10.1109/LRA.2018.2793305
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Payload manipulation with aerial robots has been an active research area for many years. Recent approaches have sought to plan, control, and execute maneuvers with large, yet deliberate, load swings for more agile, energy-optimal maneuvering. Unfortunately, the system's nonlinear dynamics make executing such trajectories a significant challenge and experimental demonstrations thus far have relied completely on a motion capture system and non-negligible simplifications like restriction of the system to a two-dimensional workspace or closing of the control loop on the quadrotor, instead of the payload. In this work, we observe the payload using a downward-facing camera and estimate its state relative to the quadrotor using an extended Kalman filter. We demonstrate closed-loop payload control in the full three-dimensional workspace, with the planning, estimation, and control pipeline implemented on an onboard processor. We show control of load swings up to 53 degrees from the vertical axis. To the best of our knowledge, this represents the first realization of closed-loop control of agile slung-load maneuvers and the largest achieved payload angle.
引用
收藏
页码:1152 / 1159
页数:8
相关论文
共 22 条
[1]  
[Anonymous], 2006, PROC IEEE 4 INT C CO, DOI DOI 10.1109/ICVS.2006.3
[2]  
[Anonymous], 2017, P ROB SCI SYST CAMBR, DOI DOI 10.15607/RSS.2017.XIII.030
[3]  
Bernard Markus, 2009, 2009 IEEE International Conference on Robotics and Automation (ICRA), P3258, DOI 10.1109/ROBOT.2009.5152382
[4]   Adaptive control system for autonomous helicopter slung load operations [J].
Bisgaard, Morten ;
la Cour-Harbo, Anders ;
Bendtsen, Jan Dimon .
CONTROL ENGINEERING PRACTICE, 2010, 18 (07) :800-811
[5]  
de Crousaz C, 2015, IEEE INT CONF ROBOT, P2223, DOI 10.1109/ICRA.2015.7139493
[6]   Automated aerial suspended cargo delivery through reinforcement learning [J].
Faust, Aleksandra ;
Palunko, Ivana ;
Cruz, Patricio ;
Fierro, Rafael ;
Tapia, Lydia .
ARTIFICIAL INTELLIGENCE, 2017, 247 :381-398
[7]  
Goodarzi FA, 2014, P AMER CONTR CONF, P4925, DOI 10.1109/ACC.2014.6859419
[8]   A Practical Multirobot Localization System [J].
Krajnik, Tomas ;
Nitsche, Matias ;
Faigl, Jan ;
Vanek, Petr ;
Saska, Martin ;
Preucil, Libor ;
Duckett, Tom ;
Mejail, Marta .
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2014, 76 (3-4) :539-562
[9]  
Lee T, 2012, P AMER CONTR CONF, P4649
[10]   Autonomous aerial navigation using monocular visual-inertial fusion [J].
Lin, Yi ;
Gao, Fei ;
Qin, Tong ;
Gao, Wenliang ;
Liu, Tianbo ;
Wu, William ;
Yang, Zhenfei ;
Shen, Shaojie .
JOURNAL OF FIELD ROBOTICS, 2018, 35 (01) :23-51