Publication detail

Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints

NOVÁK, J. CHUDÝ, P. HANÁK, J.

Original Title

Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints

Type

conference paper

Language

English

Original Abstract

Physical interaction of Unmanned Aerial Vehicles (UAVs) with it's environment has the potential enabling many complex missions in both scientific and industrial domains. This paper deals with coupled Model Predictive Control (MPC) for an UAV with attached robotic manipulator. Adaptive augmentation loop is used in the trajectory tracking scheme to compensate for the manipulator dynamics and increase precision of aerial grasping tasks. Perception constraints ensure that the payload stays within camera field of view. Conducted numerical simulations show effectiveness of the coupled MPC scheme for aerial grasping and its safety enhanced by the imposed constraints.

Keywords

Optimal Control, robotics, aerial grasping, unmanned aerial vehicles

Authors

NOVÁK, J.; CHUDÝ, P.; HANÁK, J.

Released

8. 10. 2024

Publisher

International Council of the Aeronautical Sciences

Location

Florence

ISBN

2958-4647

Periodical

ICAS Proceedings

Year of study

9

Number

10

State

Federal Republic of Germany

Pages from

1

Pages to

15

Pages count

15

URL

https://www.icas.org/icas_archive/icas2024/data/preview/icas2024_0879.htm

BibTex

@inproceedings{BUT193785,
  author="Jiří {Novák} and Peter {Chudý} and Jiří {Hanák}",
  title="Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints",
  booktitle="ICAS Proceedings",
  year="2024",
  journal="ICAS Proceedings",
  volume="9",
  number="10",
  pages="1--15",
  publisher="International Council of the Aeronautical Sciences",
  address="Florence",
  issn="2958-4647",
  url="https://www.icas.org/icas_archive/icas2024/data/preview/icas2024_0879.htm"
}