Safety in coordinated control of multiple unmanned aerial vehicle manipulator systems: Case of obstacle avoidance

K. Baizid, F. Caccavale, S. Chiaverini, G. Giglio, F. Pierri
{"title":"Safety in coordinated control of multiple unmanned aerial vehicle manipulator systems: Case of obstacle avoidance","authors":"K. Baizid, F. Caccavale, S. Chiaverini, G. Giglio, F. Pierri","doi":"10.1109/MED.2014.6961555","DOIUrl":null,"url":null,"abstract":"This paper treats the safety issues in coordinated transportation of an object via multiple Unmanned Aerial Vehicles with Manipulator Systems (UAVMS); in particular, the case of obstacle avoidance is considered. The proposed paradigm is based on the so-called Null-Space-based Behavioral (NSB) control approach, that allows to achieve multiple tasks simultaneously. Two different scenarios of bar transportation using multi-UAVMSs have been developed, tested and compared in simulation: in the first scenario, the obstacle avoidance is achieved at the coordination level, where the controller allows the whole system (UAVMSs and bar) to circumnavigate the obstacle; while in the second scenario only the UAVMS closest to the obstacle modifies its trajectory to overcome the obstacle by keeping the desired trajectory of the bar unchanged.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"29 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"22nd Mediterranean Conference on Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2014.6961555","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6

Abstract

This paper treats the safety issues in coordinated transportation of an object via multiple Unmanned Aerial Vehicles with Manipulator Systems (UAVMS); in particular, the case of obstacle avoidance is considered. The proposed paradigm is based on the so-called Null-Space-based Behavioral (NSB) control approach, that allows to achieve multiple tasks simultaneously. Two different scenarios of bar transportation using multi-UAVMSs have been developed, tested and compared in simulation: in the first scenario, the obstacle avoidance is achieved at the coordination level, where the controller allows the whole system (UAVMSs and bar) to circumnavigate the obstacle; while in the second scenario only the UAVMS closest to the obstacle modifies its trajectory to overcome the obstacle by keeping the desired trajectory of the bar unchanged.
多无人机机械臂系统协调控制的安全性:避障案例
研究了多架无人机操纵系统协同运输物体的安全问题;特别考虑了避障的情况。所提出的范式基于所谓的基于空空间的行为(NSB)控制方法,该方法允许同时实现多个任务。开发了两种使用多无人机运输酒吧的不同场景,并在仿真中进行了测试和比较:在第一种场景中,在协调层面实现避障,控制器允许整个系统(无人机和酒吧)绕过障碍物;而在第二种情况下,只有离障碍物最近的无人机才会修改其轨迹,通过保持杆的期望轨迹不变来克服障碍物。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信