Result Details
Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints
Chudý Peter, doc. Ing., Ph.D., MBA, DCGM (FIT)
Hanák Jiří, Ing., Ph.D., DCGM (FIT)
Physical interaction of Unmanned Aerial Vehicles (UAVs) with it's environment has
the potential enabling many complex missions in both scientific and industrial
domains. This paper deals with coupled Model Predictive Control (MPC) for an UAV
with attached robotic manipulator. Adaptive augmentation loop is used in the
trajectory tracking scheme to compensate for the manipulator dynamics and
increase precision of aerial grasping tasks. Perception constraints ensure that
the payload stays within camera field of view. Conducted numerical simulations
show effectiveness of the coupled MPC scheme for aerial grasping and its safety
enhanced by the imposed constraints.
Optimal Control, robotics, aerial grasping, unmanned aerial vehicles
@inproceedings{BUT193785,
author="Jiří {Novák} and Peter {Chudý} and Jiří {Hanák}",
title="Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints",
booktitle="ICAS Proceedings",
year="2024",
journal="ICAS Proceedings",
volume="9",
number="10",
pages="1--15",
publisher="International Council of the Aeronautical Sciences",
address="Florence",
issn="2958-4647",
url="https://www.icas.org/icas_archive/icas2024/data/preview/icas2024_0879.htm"
}