Precision Fully-Actuated UAV for Visual and Physical Inspection of Structures for Nuclear Decommissioning and Search and Rescue

Jiang, Guangying; Voyles, Richard M.; Choi, Jae Jung

doi:10.1109/ssrr.2018.8468628

Cited by 22 publications

(24 citation statements)

References 13 publications

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“…In this work, similar to [6], [7], we consider a hexarotor UAV with fixed-tilt rotor as a case study, chosen due to its mechanical simplicity compared to other designs. To modify a traditional hexarotor in order to be fully-actuated, the six rotors should point in different directions.…”

Section: Uav Descriptionmentioning

confidence: 99%

“…The fully-actuated hexarotor considered in this work is optimized following the work of [7]. The objective of the optimization process is to maximize the aerodynamic wrench that can be generated by the propellers on the body of the UAV.…”

Section: B Choice Of the Cant Anglesmentioning

confidence: 99%

“…In [5], an omnidirectional hexarotor with tiltable rotors was introduced and demonstrated for wall interaction. In [6], [7], a planar hexarotor with fixed-tilt rotors was used for contact-based inspection scenarios. Fig.…”

Section: Introductionmentioning

confidence: 99%

“…Several techniques have been applied in the literature for the interaction control problem. In the work of [3], [4], a hybrid pose/wrench technique was used, whereas pure motion-controllers were used for interaction in [5], [7]. The drawback of these control approaches is that they both require an accurate model of the aerial robot and the contact properties of the environment.…”

Section: Introductionmentioning

confidence: 99%

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Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering

Rashad

Califano

2019

IEEE Robot. Autom. Lett.

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In this work, we approach the control problem of fully-actuated UAVs in a geometric port-Hamiltonian framework. The UAV is modeled as a floating rigid body on the special Euclidean group SE(3). A unified near-hovering motion and impedance controller is derived by the energy-balancing passivity-based control technique. A detailed analysis of the closed-loop system's behavior is presented for both the freeflight stability and contact stability of the UAV. The robustness of the control system to uncertainties is validated by several experiments, in which the UAV is controlled near its actuator limits. The experiments show the ability of the UAV to hover at its maximum allowed roll angle and apply its maximum allowed normal force to a surface, without the input saturation destabilizing the system.

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Section: Uav Descriptionmentioning

confidence: 99%

Section: B Choice Of the Cant Anglesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering

Rashad

Califano

2019

IEEE Robot. Autom. Lett.

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“…Estos vehículos han demostrado ser de gran utilidad en tareas tales como el monitoreo medioambiental, la toma de muestras, la confección de mapas batimétricos entre otros, todos ellos sin el costo de desplegar grandes vehículos y personal. De igual modo, se han desarrollado UAVs para gran variedad de tareas específicas, como en [5]- [8], donde se observan aplicaciones en seguridad, agrimensura, tareas de monitoreo en zonas de difícil acceso, como bosques, volcanes, zonas de incendio o de desastres naturales. Cada vez son más las aplicaciones que se ven beneficiadas con el uso de los ASV o UAV y de pequeños vehículos terrestres.…”

Section: Introductionunclassified

Diseño de un autopiloto para pequeños vehículos no tripulados

Garberoglio

Pose

Mas

et al. 2019

Elek.

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Resumen-En este trabajo se presenta el diseño de un autopiloto para pequeños vehículos autónomos. El trabajo está enfocado principalmente en la arquitectura del sistema, pero se presentan también algunos detalles del firmware desarrollado para el autopiloto. En particular, el firmware incluye el paquete rosserial, que permite una conexión simple con ROS (Robot Operating System), resultando beneficioso para diversas aplicaciones.El desarrollo se valida experimentalmente en un vehículo aéreo no tripulado (UAV 1 ) del tipo multi-rotor y en un vehículo acuático de superficie (ASV 2 ). Estos vehículos han sido desarrollados por nuestro grupo, y en este trabajo puede encontrarse información sobre estos proyectos, lo cual puede ser de utilidad para los interesados en el desarrollo de UAV o ASV. Palabras clave: Autopiloto; Vehículos no tripulados; Navegación Guiado & Control.Abstract-In this work, the design of an autopilot for small unmanned vehicles is presented. It is focused mainly on the system's architecture, while presenting some important remarks of the developed firmware. In particular, the firmware uses rosserial, a package that allows a simple connection with ROS (Robot Operating System), which is useful for a number of applications.The work is validated experimentally on an multirotor-type unmanned aerial vehicle (UAV), and on an autonomous surface vehicle (ASV). These vehicles have been developed by our group, and this work provides information about such projects, which may be useful for those interested in the development of this kind of vehicles.

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Super-Twisting Sliding Mode Control for a Formation of Fully-Actuated Multirotor Aerial Vehicles

Ricardo Jr,

Santos

2024

Springer Proceedings in Mathematics &Amp; Statistics

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Precision Fully-Actuated UAV for Visual and Physical Inspection of Structures for Nuclear Decommissioning and Search and Rescue

Cited by 22 publications

References 13 publications

Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering

Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering

Diseño de un autopiloto para pequeños vehículos no tripulados

Super-Twisting Sliding Mode Control for a Formation of Fully-Actuated Multirotor Aerial Vehicles

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