Detail publikace

Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints

NOVÁK, J. CHUDÝ, P. HANÁK, J.

Originální název

Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

Optimal Control, robotics, aerial grasping, unmanned aerial vehicles

Autoři

NOVÁK, J.; CHUDÝ, P.; HANÁK, J.

Vydáno

8. 10. 2024

Nakladatel

International Council of the Aeronautical Sciences

Místo

Florence

ISSN

2958-4647

Periodikum

ICAS Proceedings

Ročník

9

Číslo

10

Stát

Spolková republika Německo

Strany od

1

Strany do

15

Strany počet

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"
}