Aerial robot control in close proximity to ceiling: a force estimation-based nonlinear MPC
Date
2019
Authors
Kocer, B.B.
Tiryaki, M.E.
Pratama, M.
Tjahjowidodo, T.
Seet, G.G.L.
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Advisors
Journal Title
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Conference paper
Citation
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019, iss.8967611, pp.2813-2819
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Conference Name
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (3 Nov 2019 - 8 Nov 2019 : Macau, China)
Abstract
Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this work. There are two main challenges for close proximity flights: (i) the trust characteristics varies drastically for the different distance from the ceiling which results in a complex nonlinear dynamics; (ii) the system needs to consider physical and environmental constraints to safely fly in close proximity.
To address these challenges, a novel framework consisting of a constrained optimization-based force estimation and an optimization-based nonlinear controller is proposed. Experimental results illustrate that the performance of the proposed control approach can stabilize UAV down to 1 cm distance to the ceiling. Furthermore, we report that the UAV consumes up to 12.5% less power when it is operated 1 cm distance to ceiling, which is promising potential for more battery-efficient inspection flights.
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Link to a related website: https://unpaywall.org/10.1109/IROS40897.2019.8967611, Open Access via Unpaywall
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Copyright 2019 IEEE