Publication Details
Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints
Chudý Peter, doc. Ing., Ph.D. MBA (DCGM FIT BUT)
Hanák Jiří, Ing. (DCGM FIT BUT)
Optimal Control, robotics, aerial grasping, unmanned aerial vehicles
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.
@INPROCEEDINGS{FITPUB13185, author = "Ji\v{r}\'{i} Nov\'{a}k and Peter Chud\'{y} and Ji\v{r}\'{i} Han\'{a}k", title = "Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints", pages = "1--15", booktitle = "34th Congress of the International Council of the Aeronautical Sciences, ICAS 2024", year = 2024, location = "Florence, IT", publisher = "International Council of the Aeronautical Sciences", language = "english", url = "https://www.fit.vut.cz/research/publication/13185" }