Impedance-based Control for Soft UAV Landing on a Ground Robot in Heterogeneous Robotic System

Ivan Kalinov, Alexander Petrovsky, Ruslan Agishev, Pavel Karpyshev, Dzmitry Tsetserukou

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Citations (Scopus)

Abstract

In this paper, we present a new method for soft landing of an unmanned aerial vehicle (UAV) on a ground robot based on impedance control. It is applied for a heterogeneous robotic system aimed at warehouse stocktaking automation. We describe the operating and mathematical principles of the impedance control for the landing system of the UAV and present the results of the real-world experiments. We evaluate the softness of landing using force sensors attached to each of four legs of the drone by measuring the impact force during the contact. Experimental results revealed that proposed landing impedance control decreased the impact force by 60%. The proposed approach can also be applied for delivery drone landing on the moving truck, cargo ship, or uneven terrain providing low risk of crash accident.

Original languageEnglish
Title of host publication2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1653-1658
Number of pages6
ISBN (Electronic)9780738131153
DOIs
Publication statusPublished - 15 Jun 2021
Externally publishedYes
Event2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 - Athens, Greece
Duration: 15 Jun 202118 Jun 2021

Publication series

Name2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

Conference

Conference2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Country/TerritoryGreece
CityAthens
Period15/06/2118/06/21

Fingerprint

Dive into the research topics of 'Impedance-based Control for Soft UAV Landing on a Ground Robot in Heterogeneous Robotic System'. Together they form a unique fingerprint.

Cite this