Control of Quadrotors for Robust Perching and Landing
نویسندگان
چکیده
While the use of micro unmanned vehicles is steadily increasing, there are currently no viable approaches for perching and holding on to landing pads. We describe the design, control, and planning methodologies to enable perching. Our work builds on an off-the-shelf UAV and motion capture system and addresses (a) the design and fabrication of a claw or gripping mechanism for perching; and (b) planning and control algorithms for perching. We show experimental results illustrating the robustness of our algorithms and the performance envelope for grasping and perching.
منابع مشابه
Trajectory Optimization for Perching Quadrotor Vehicles
Unmanned aerial vehicles (UAVs) have been carefully optimized for forward flight regimes over the past fifty years. While engineers learned to construct highly maneuverable craft to be flown by human operators, autonomous control of such highly underactuated systems has continued to be a difficult issue. New flight capabilities for aircraft have been enabled through recent advances in materials...
متن کاملCooperative Control of Multiple Quadrotors for Transporting a Common Payload
This paper investigates the problem of controlling a team of Quadrotors that cooperatively transport a common payload. The main contribution of this study is to propose a cooperative control algorithm based on a decentralized algorithm. This strategy is comprised of two main steps: the first one is calculating the basic control vectors for each Quadrotor using Moore–Penrose theory aiming at coo...
متن کاملThe Effects of Shape Reconfiguration on Morphing Aircraft in Perching Maneuvers
This paper focuses on a novel morphing aircraft capability called perching: the ability of an aircraft to make a planted landing using primarily aerodynamic forces in lieu of high thrust. Specifically, the modeling of the perching aircraft’s aerodynamics and the problem of computing and optimizing a perching trajectory using this model are presented. The aerodynamic model discussed herein is de...
متن کاملPlanning and Control of Aggressive Maneuvers for Perching on Inclined and Vertical Surfaces
It is important to enable micro aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors and to perform tasks such as persistent surveillance. In many cases, the best available surfaces may be vertical windows, walls, or inclined roof tops. In this paper, we present approaches and algorithms for aggressive maneuvering to enable perching of underactuated ...
متن کاملController design for a wall landing airplane
Plane perching on a wire has been demonstrated with success in laboratory conditions by [Cory & Tedrake, 2008]. The present paper focuses on designing a controller for a small wall landing glider. We use a simulator and a reinforcement learning algorithm in a coarsely discretized state-space to design an optimal control for the landing. Analysis of this policy allows us to deduce a simpler clos...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2010