ICUAS 2020 Paper Abstract

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Paper WeA4.5

Petitti, Antonio (National Research Council of Italy), Sanalitro, Dario (LAAS-CNRS), Tognon, Marco (ETH Zurich), Milella, Annalisa (Institute of Intelligent Industrial Technologies and Systems for), Cortés, Juan (LAAS-CNRS), Franchi, Antonio (University of Twente)

Inertial Estimation and Energy-Efficient Control of a Cable-Suspended Load with a Team of UAVs

Scheduled for presentation during the Regular Session "Control Architectures I" (WeA4), Wednesday, September 2, 2020, 11:20−11:40, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Control Architectures, Autonomy, UAS Applications

Abstract

The Fly-Crane is a multi-robot aerial manipulator system composed of three aerial vehicles towed to a platform by means of six cables. This paper presents a method to estimate the mass and the position of the center of mass of a loaded platform (i.e. the Fly-Crane platform including a transported load). The precise knowledge of these parameters allows to sensibly minimize the total effort exerted during a full-pose manipulation task The estimation is based on the measure of the forces applied by the aerial vehicles to the platform in different static configurations. We demonstrate that only two different configurations are sufficient to estimate the inertial parameters. Far-from-ideal numerical simulations show the effectiveness of the estimation method. Once the parameters are estimated, we show the enhancement of the system performances by minimizing the total exerted effort. The validity of the proposed algorithm in non-ideal conditions is presented through simulations based on the Gazebo simulator.

 

 

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