Publication Details

Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints

NOVÁK, J.; CHUDÝ, P.; HANÁK, J. Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints. In ICAS Proceedings. ICAS Proceedings. Florence: International Council of the Aeronautical Sciences, 2024. p. 1-15. ISSN: 2958-4647.
Czech title
Prediktivní řízení pro vzdušnou manipulaci s provozními omezeními
Type
conference paper
Language
English
Authors
Novák Jiří, Ing., Ph.D. (DCGM)
Chudý Peter, doc. Ing., Ph.D., MBA (FIT)
Hanák Jiří, Ing., Ph.D. (FIT)
URL
Keywords

Optimal Control, robotics, aerial grasping, unmanned aerial vehicles

Abstract

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.

Published
2024
Pages
1–15
Journal
ICAS Proceedings, vol. 9, no. 10, ISSN 2958-4647
Proceedings
ICAS Proceedings
Conference
34th Congress of the International Council of the Aeronautical Sciences, Florence, IT
Publisher
International Council of the Aeronautical Sciences
Place
Florence
EID Scopus
2-s2.0-85208786072
BibTeX 
@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"
}
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