Navigation Strategy In-flight Retrieving and Transportation Operations for a Rotorcraft MAV
| Autor: | G. Flores, Juan Escareno, J. Castillo, K. Camarillo, Wafik Abassi |
|---|---|
| Přispěvatelé: | Institut Polytechnique des Sciences Avancées (IPSA), Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE), Instituto Tecnológico de Celaya, Perception and Robotics LAB, Centro de Investigaciones en Optica, Systèmes et Réseaux Intelligents (XLIM-SRI), XLIM (XLIM), Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS)-Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS), University of Barcelona, Departamento de Ingeniería Matemática [Santiago] (DIM), Universidad de Chile = University of Chile [Santiago] (UCHILE)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
Scheme (programming language)
020301 aerospace & aeronautics 0209 industrial biotechnology Engineering business.industry Control engineering 02 engineering and technology Aerodynamics [SPI.AUTO]Engineering Sciences [physics]/Automatic [SPI]Engineering Sciences [physics] 020901 industrial engineering & automation 0203 mechanical engineering Control theory Wind gust Trajectory Dynamic pattern business Robotic arm computer ComputingMilieux_MISCELLANEOUS computer.programming_language |
| Zdroj: | 4th Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2017) 4th Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2017), Oct 2017, Linköping, Sweden. (elec. proc.) 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), Oct 2017, Linkoping, France. pp.7-12, ⟨10.1109/RED-UAS.2017.8101635⟩ HAL |
| DOI: | 10.1109/RED-UAS.2017.8101635⟩ |
| Popis: | International audience; The paper addresses a robust navigation strategy of a rotorcraft class having a simple robotic arm to perform rapid in-flight retrieving operations in presence of wind gusts and aerodynamic effects. The target-acquiring trajectory planner is based on a cosinusoidal dynamic pattern. The mathematical model is extended to account not only the dynamics of the robotic arm but also the aerodynamics. The navigation control scheme is based on a soft integral sliding-mode control (ISC) to stabilize both inner-and outer-loop dynamics regarding the rejection of not only the dynamic couplings but also aerodynamic disturbances. Detailed simulations including realistic aerodynamic effects results show the validity of the proposed navigation strategy while tracking the object-to-retrieve trajectory. |
| Databáze: | OpenAIRE |
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