Lidé
MSc. Alexandre Santos Brandao, Ph.D.
Všechny publikace
Side-Pull Maneuver: A Novel Control Strategy for Dragging a Cable-Tethered Load of Unknown Weight Using a UAV
- Autoři: MSc. Alexandre Santos Brandao, Ph.D., Smrčka, D., Pairet, E., Tiago Pereira do Nascimento, Ph.D., doc. Ing. Martin Saska, Dr. rer. nat.,
- Publikace: IEEE Robotics and Automation Letters. 2022, 7(4), 9159-9166. ISSN 2377-3766.
- Rok: 2022
- DOI: 10.1109/LRA.2022.3190092
- Odkaz: https://doi.org/10.1109/LRA.2022.3190092
- Pracoviště: Multirobotické systémy
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Anotace:
This work presents an approach for dealing with suspended-cable load transportation using unmanned aerial vehicles (UAVs), specifically when the cargo overcomes the lifting capacity. Herein, this approach is referred to as the Side-Pull Maneuver (SPM). This maneuver is an alternative and viable strategy for cases where there is no impediment or restriction to dragging the load along a surface, such as with pastures or marine environments. The proposal is based on a joint observation of the thrust and altitude of the UAV. To make this possible, the high-level rigid-body dynamics model is described and represented as an underactuated system. Its altitude-rate control input is then analyzed during flight. A flight state supervisor decides whether the cargo should be carried by lifting or by side-pulling, or whether it should be labeled as nontransportable. Comparative real experiments validate the proposal according to which maneuver (lifting or dragging) is performed for transport.