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

Результат исследований: Глава в книге, отчете, сборнике статейМатериалы для конференциирецензирование

6 Цитирования (Scopus)

Аннотация

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.

Язык оригиналаАнглийский
Название основной публикации2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
ИздательInstitute of Electrical and Electronics Engineers Inc.
Страницы1653-1658
Число страниц6
ISBN (электронное издание)9780738131153
DOI
СостояниеОпубликовано - 15 июн. 2021
Опубликовано для внешнего пользованияДа
Событие2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 - Athens, Греция
Продолжительность: 15 июн. 202118 июн. 2021

Серия публикаций

Название2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

Конференция

Конференция2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Страна/TерриторияГреция
ГородAthens
Период15/06/2118/06/21

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