Optimization Architecture of a Modular Architecture for Robotic Control: MARC Control Structure Applied to a VTOL UAV

S. S. Dhaliwal, A. Ramirez-Serrano
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引用次数: 9

Abstract

This paper presents a Modular Architecture for Robotic Control (MARC) for unconventional Unmanned Aerial Vehicles (UAV). MARC was developed for a Double-Ducted Vertical Take-off and Landing (VTOL) vehicle, capable of maneuvering within densely obstructed environments. The focus of this paper is to present the characteristics of the MARC architecture for the use of a twin-duct VTOL as an optimal platform for indoor flight used for surveillance and reconnaissance missions. This paper describes how MARC utilizes dynamic weighting, from potential functions, to impact the influence of multiple independent task and action based control systems. MARC optimizes the influence of multiple control modules to enable complex behaviors based on user defined operational goals. The test vehicle possesses flight characteristics that incorporate optimal control in 6 DOF for rapid "aggressive" maneuvers for navigation. The results showcase the potential for the MARC control system to optimize the performance of mobile robotics, specifically unconventional vehicles.
机器人控制模块化体系结构的优化:MARC控制结构在垂直起降无人机上的应用
提出了一种面向非常规无人机的机器人控制模块化体系结构。MARC是为双导管垂直起降(VTOL)飞行器开发的,能够在密集障碍物环境中进行机动。本文的重点是介绍MARC架构的特点,将双风道垂直起降作为室内飞行的最佳平台,用于监视和侦察任务。本文描述了MARC如何利用势能函数的动态加权来影响多个独立任务和基于动作的控制系统的影响。MARC优化了多个控制模块的影响,以实现基于用户定义的操作目标的复杂行为。测试飞行器的飞行特性包括6自由度的最佳控制,以实现快速的“侵略性”机动导航。结果显示MARC控制系统在优化移动机器人,特别是非常规车辆性能方面的潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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