Journal article
Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle
Journal of intelligent & robotic systems, v 69(1-4), pp 227-240
01 Jan 2013
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Compared to autonomous ground vehicles, UAVs (unmanned aerial vehicles) have significant mobility advantages and the potential to operate in otherwise unreachable locations. Micro UAVs still suffer from one major drawback: they do not have the necessary payload capabilities to support high performance arms. This paper, however, investigates the key challenges in controlling a mobile manipulating UAV using a commercially available aircraft and a light-weight prototype 3-arm manipulator. Because of the overall instability of rotorcraft, we use a motion capture system to build an efficient autopilot. Our results indicate that we can accurately model and control our prototype system given significant disturbances when both moving the manipulators and interacting with the ground.
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Details
- Title
- Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle
- Creators
- Matko Orsag - Institute of Robotics and Intelligent SystemsChristopher Korpela - Institute of Robotics and Intelligent SystemsPaul Oh - Institute of Robotics and Intelligent Systems
- Publication Details
- Journal of intelligent & robotic systems, v 69(1-4), pp 227-240
- Publisher
- Springer Nature
- Number of pages
- 14
- Grant note
- 0347430 / US NSF CAREER Grant; National Science Foundation (NSF) U.S. Bureau of Educational and Cultural Affairs through the Fulbright Program 0730206 / US NSF PIRE Grant
- Resource Type
- Journal article
- Language
- English
- Web of Science ID
- WOS:000312583500020
- Scopus ID
- 2-s2.0-84883491263
- Other Identifier
- 991019348755904721
UN Sustainable Development Goals (SDGs)
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Computer Science, Artificial Intelligence
- Robotics