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: 34th Congress of the International Council of the Aeronautical Sciences, ICAS 2024. Florence: International Council of the Aeronautical Sciences, 2024, pp. 1-15. ISSN 2958-4647.
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)
Pages
1-15
Journal
ICAS PROCEEDINGS, ISSN 2958-4647
Proceedings
34th Congress of the International Council of the Aeronautical Sciences, ICAS 2024
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",
   pages = "1--15",
   booktitle = "34th Congress of the International Council of the Aeronautical Sciences, ICAS 2024",
   journal = "ICAS PROCEEDINGS",
   year = 2024,
   location = "Florence, IT",
   publisher = "International Council of the Aeronautical Sciences",
   ISSN = "2958-4647",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/13185"
}
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