Perching Upside Down with Bi-directional Thrust Quadrotor

Yu, Pengfei; Chamitoff, Gregory; Wong, KC

doi:10.1109/icuas48674.2020.9213946

Cited by 6 publications

(7 citation statements)

References 19 publications

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“…For powerlines this is not always the case, since they appear in many different configurations where hanging from the upmost line can lead to touching the others. Recently, [11] presented a quadrotor with upside-down perching capabilities by using bi-directional thrusts. In contrast, the proposed system is able to generate perching trajectories that take multirotors to any (feasible) desired perching state, including upside-down, without the use of bi-directional thrusts.…”

Section: Related Workmentioning

confidence: 99%

“…We now validate the whole proposed perching trajectory generation system in different maneuvers that are computed and executed onboard the robot. We assume the perching endeffector is installed at the bottom of the quadrotor as in [11]. We add an additional degree of freedom to the end-effector, and assume its yaw orientation can be controlled, so we can better illustrate the effect of perception awareness.…”

Section: B Perching Experimentsmentioning

confidence: 99%

“…After showing the capabilities for perception-awareness, we test its functioning in extreme perching maneuvers, where the drone stops completely upside down at the perching pose. We note that this has currently only been done with quadrotors with bi-directional thrust capabilities [11]. We set up the bottom powerline at a height of 3'7 m, leaving roughly 2'5 m of operation for the quadrotor in the Z axis (its minimum allowed height is of 0.8 m).…”

Section: B Perching Experimentsmentioning

confidence: 99%

See 2 more Smart Citations

Perception-Aware Perching on Powerlines With Multirotors

Paneque

Martinez-de-Dios

Ollero

et al. 2022

IEEE Robot. Autom. Lett.

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Multirotor aerial robots are becoming widely used for the inspection of powerlines. To enable continuous, robust inspection without human intervention, the robots must be able to perch on the powerlines to recharge their batteries. Highly versatile perching capabilities are necessary to adapt to the variety of configurations and constraints that are present in real powerline systems. This paper presents a novel perching trajectory generation framework that computes perception-aware, collisionfree, and dynamically-feasible maneuvers to guide the robot to the desired final state. Trajectory generation is achieved via solving a Nonlinear Programming problem using the Primal-Dual Interior Point method. The problem considers the full dynamic model of the robot down to its single rotor thrusts and minimizes the final pose and velocity errors while avoiding collisions and maximizing the visibility of the powerline during the maneuver. The generated maneuvers consider both the perching and the posterior recovery trajectories. The framework adopts costs and constraints defined by efficient mathematical representations of powerlines, enabling online onboard execution in resource-constrained hardware. The method is validated on-board an agile quadrotor conducting powerline inspection and various perching maneuvers with final pitch values of up to 180°. The developed code is available online at: https://github.com/grvcPerception/pa powerline perching

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Section: Related Workmentioning

confidence: 99%

Section: B Perching Experimentsmentioning

confidence: 99%

Section: B Perching Experimentsmentioning

confidence: 99%

See 1 more Smart Citation

Perception-Aware Perching on Powerlines With Multirotors

Paneque

Martinez-de-Dios

Ollero

et al. 2022

IEEE Robot. Autom. Lett.

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“…M ICRO Aerial Vehicles (MAVs), specifically quadrotors suffer from limited battery power, which significantly restricts their operational time and range [1]. Perching on a surface could be helpful in energy preserving by cutting the power of motors and thus extends the operation time [2], [3]. Therefore, the latest years have seen a growing interest of the research community towards the perching of MAVs [4]- [6].…”

Section: Introductionmentioning

confidence: 99%

“…The main contributions of this paper are twofold: (1) We design and analyze a gripper with large adaptability to pose errors and tangential velocities using multiple independent self-sealing suction cups. (2) We demonstrate a method to plan time-optimal aggressive trajectories in real-time and control a quadrotor to perch on a moving inclined surface.…”

Section: Introductionmentioning

confidence: 99%