Autonomous and Tele-Operated Navigation of Aerial Manipulator Robots in Digitalized Virtual Environments
| Autor: | Oscar Arteaga, Christian P. Carvajal, María G. Méndez, Cochise Terán, Diana C. Torres, Víctor H. Andaluz |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Service (systems architecture) Computer science Real-time computing Control (management) 02 engineering and technology computer.software_genre 01 natural sciences Drone 010305 fluids & plasmas 020901 industrial engineering & automation Control system 0103 physical sciences Computer Aided Design Robot MATLAB computer 3D computer graphics computer.programming_language |
| Zdroj: | Lecture Notes in Computer Science ISBN: 9783319952819 AVR (2) |
| DOI: | 10.1007/978-3-319-95282-6_36 |
| Popis: | This paper presents the implementation of a 3D virtual simulator that allows the analysis of the performance of different autonomous and tele-operated control strategies through the execution of service tasks by an aerial manipulator robot. The simulation environment is development through the digitalization of a real environment by means of 3D mapping with Drones that serves as a scenario to execute the tasks with a robot designed in CAD software. For robot-environment interaction, the Unity 3D graphics engine is used, which exchanges information with MATLAB to close the control loop and allow for feedback to compensate for the error. Finally, the results of the simulation, which validate the proposed control strategies, are presented and discussed. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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