Control of an Aerial Manipulator Using a Quadrotor with a Replaceable Robotic Arm

Ouyang, Zizhen; Mei, Ruidong; Liu, Zisen; Wei, Mingxin; Zhou, Zida; Cheng, Hui

doi:10.1109/icra48506.2021.9560827

Cited by 13 publications

(4 citation statements)

References 21 publications

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“…Both strategies will depend on a USV as a docking and power charging station; however, a tool-changing UAV will rely more on a USV as a tool changing station. For a tool-changing UAV, it may also be a UAV that is equipped with a manipulator [66,67], an arm [43,68,69], or multiple arms [37,70] to perform more dexterous manipulation during maintenance or repair works. Table 2 summarizes the different features and potential collaboration or adaptation methods that can be achieved with these types of tool-changing UAVs.…”

Section: Strategies To Perform Complex Tasksmentioning

confidence: 99%

Collaborative Unmanned Vehicles for Inspection, Maintenance, and Repairs of Offshore Wind Turbines

Nordin

Sharma

Khan

et al. 2022

Drones

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Operations and maintenance of Offshore Wind Turbines (OWTs) are challenging, with manual operators constantly exposed to hazardous environments. Due to the high task complexity associated with the OWT, the transition to unmanned solutions remains stagnant. Efforts toward unmanned operations have been observed using Unmanned Aerial Vehicles (UAVs) and Unmanned Underwater Vehicles (UUVs) but are limited mostly to visual inspections only. Collaboration strategies between unmanned vehicles have introduced several opportunities that would enable unmanned operations for the OWT maintenance and repair activities. There have been many papers and reviews on collaborative UVs. However, most of the past papers reviewed collaborative UVs for surveillance purposes, search and rescue missions, and agricultural activities. This review aims to present the current capabilities of Unmanned Vehicles (UVs) used in OWT for Inspection, Maintenance, and Repair (IMR) operations. Strategies to implement collaborative UVs for complex tasks and their associated challenges are discussed together with the strategies to solve localization and navigation issues, prolong operation time, and establish effective communication within the OWT IMR operations. This paper also briefly discusses the potential failure modes for collaborative approaches and possible redundancy strategies to manage them. The collaborative strategies discussed herein will be of use to researchers and technology providers in identifying significant gaps that have hindered the implementation of full unmanned systems which have significant impacts towards the net zero strategy.

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Section: Strategies To Perform Complex Tasksmentioning

confidence: 99%

Collaborative Unmanned Vehicles for Inspection, Maintenance, and Repairs of Offshore Wind Turbines

Nordin

Sharma

Khan

et al. 2022

Drones

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“…Unmanned aerial vehicle (UAV) tracking has drawn considerable attention due to its prosperous applications in robotic automation, e.g., automatic patrol [32], robot cinematography [33], and aerial manipulator [34]. Despite remarkable advancements, efficient and accurate UAV tracking remains a challenging task due to several inherent difficulties.…”

Section: Introductionmentioning

confidence: 99%

Continuity-Aware Latent Interframe Information Mining for Reliable UAV Tracking

Fu¹,

Cai²,

Li³

et al. 2023

Preprint

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Unmanned aerial vehicle (UAV) tracking is crucial for autonomous navigation and has broad applications in robotic automation fields. However, reliable UAV tracking remains a challenging task due to various difficulties like frequent occlusion and aspect ratio change. Additionally, most of the existing work mainly focuses on explicit information to improve tracking performance, ignoring potential interframe connections. To address the above issues, this work proposes a novel framework with continuity-aware latent interframe information mining for reliable UAV tracking, i.e., ClimRT. Specifically, a new efficient continuity-aware latent interframe information mining network (ClimNet) is proposed for UAV tracking, which can generate highly-effective latent frame between two adjacent frames. Besides, a novel location-continuity Transformer (LCT) is designed to fully explore continuity-aware spatial-temporal information, thereby markedly enhancing UAV tracking. Extensive qualitative and quantitative experiments on three authoritative aerial benchmarks strongly validate the robustness and reliability of ClimRT in UAV tracking performance. Furthermore, real-world tests on the aerial platform validate its practicability and effectiveness. The code and demo materials are released at https://github.com/vision4robotics/ClimRT.

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“…Due to their flexibility and maneuverability, quadrotor UAVs are wellsuited to perform load-carrying tasks. Quadrotors usually transport payloads in two ways: robotic arm grasping [7]- [9] and cable hanging [11]- [13]. The advantage of using a cable for payload transport is that quadrotors do not need to consider the shape of the payload.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Local Obstacle Avoidance and Trajectory Tracking Control of Quadrotor UAVs With Suspended Payload in Complex Environments

Zhang,

Kong

et al. 2023

IEEE Access

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Compared with traditional vehicle transportation methods, unmanned aerial vehicles (UAVs) have many advantages in transporting cargo because they are not limited by factors such as road traffic. To address practical applications, this paper presents a local obstacle avoidance control scheme for the quadrotor with suspended payload, which is suitable for complex environments with dense obstacles and external disturbances. Firstly, the overall dynamic model of the quadrotor-payload system is established using Euler-Lagrange equations. Secondly, considering the envelope circle radius switching problem caused by changes in the amplitude of the swing angles of the payload, an obstacle avoidance constraint of the quadrotorpayload system is presented, and an R-function is introduced to improve the traditional artificial potential field method, so as to achieve a less conservative obstacle avoidance. Thirdly, a cascade control scheme based on sliding mode algorithm is designed for the quadrotor-payload system trajectory tracking under external disturbances. Moreover, to avoid payload oscillations during flight, a feed-forward controller is designed to suppress the swing of the payload. Finally, simulation results verify the effectiveness and superiority of the proposed local obstacle avoidance strategy and control scheme.INDEX TERMS Artificial potential field, feed-forward control, obstacle avoidance, quadrotor-payload system, sliding mode control.

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Control of an Aerial Manipulator Using a Quadrotor with a Replaceable Robotic Arm

Cited by 13 publications

References 21 publications

Collaborative Unmanned Vehicles for Inspection, Maintenance, and Repairs of Offshore Wind Turbines

Collaborative Unmanned Vehicles for Inspection, Maintenance, and Repairs of Offshore Wind Turbines

Continuity-Aware Latent Interframe Information Mining for Reliable UAV Tracking

Real-Time Local Obstacle Avoidance and Trajectory Tracking Control of Quadrotor UAVs With Suspended Payload in Complex Environments

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