Publication Details

Model Predictive Control Driven Aerial Grasping with Soft Operational Constraints

NOVÁK Jiří, CHUDÝ Peter and HANÁK Jiří. Model Predictive Control Driven Aerial Grasping with Soft Perception Constraints. In: Florence: International Council of the Aeronautical Sciences, 2024.

Czech title

Prediktivní řízení pro vzdušnou manipulaci s omezeními danými detekcí z obrazu

Type

conference paper

Language

english

Authors

Novák Jiří, Ing. (DCGM FIT BUT)
Chudý Peter, doc. Ing., Ph.D. MBA (DCGM FIT BUT)
Hanák Jiří, Ing. (DCGM FIT BUT)

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 (in print)

Conference

34th Congress of the International Council of the Aeronautical Sciences, Florence, IT

Publisher

International Council of the Aeronautical Sciences

Place

Florence, IT

BibTeX

@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",
   year = 2024,
   location = "Florence, IT",
   publisher = "International Council of the Aeronautical Sciences",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/13185"
}