Aerial Robotic Workers: Design, Modeling, Control, Vision and Their Applications

282 Pages·2022·19.196 MB·English

by  George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis

Aerial Robotic Workers
Design, Modeling, Control, Vision, and Their Applications
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Aerial Robotic Workers
Design, Modeling, Control, Vision, and Their
Applications
Edited by
George Nikolakopoulos
Sina Sharif Mansouri
Christoforos Kanellakis
Butterworth-HeinemannisanimprintofElsevier
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To my mother Aleka
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Contents
Contributors xiii
1. Introduction
GeorgeNikolakopoulos
1.1 Introduction 1
1.2 Structureofthebook 3
2. ThefundamentalhardwaremodulesofanARW
AntonKoval,IliasTevetzidis,andJakubHaluska
2.1 Introduction 5
2.2 DesignoftheARWs 5
2.2.1 Framedesign 5
2.2.2 Materialsusedforframeconstruction 8
2.2.3 Framesizesandclassification 11
2.3 Batterylife 13
2.3.1 Differentusecases 13
2.3.2 Batterycharacteristics 14
2.3.3 Batteryselectionprocess 16
2.4 Propulsionsystem 18
2.4.1 ARWflyingandmaneuveringprinciples 18
2.4.2 Propulsionsystemdesign 20
2.5 Sensorhardware 21
2.5.1 Visionsensors 22
2.5.2 Infraredrangingsensors 24
2.5.3 Inertialmeasurementunit 25
2.5.4 UWBrangingsensor 25
2.6 ROSnodeinterfacingsensorsandactuators 26
2.7 CompactmanipulatorforARW 27
References 28
3. ModelingforARWs
AkashPatel,AndreasPapadimitriou,andAvijitBanerjee
3.1 Notation 31
vii
viii Contents
3.2 Introduction 31
3.3 ModelingofARWs 33
3.3.1 Attitudemodeling 34
3.3.2 CompletenonlinearmodelofaquadrotorARW 38
3.3.3 Simplifiedpositionmodeling 42
3.3.4 ARWfoldablequadrotormodeling 43
3.4 Conclusions 46
References 47
4. ControlofARWs
AkashPatel,AvijitBanerjee,AndreasPapadimitriou,and
BjörnLindqvist
4.1 Introduction 49
4.2 PIDcontrol 50
4.3 Linearizedquadrotormodel 52
4.4 LQRcontrol 53
4.5 Linearmodelpredictivecontrol 55
4.6 NonlinearMPC 58
4.6.1 SwitchingmodelbasedattitudecontrollerofanARW
foldablequadrotor 61
4.7 Conclusions 64
References 64
5. PerceptioncapabilitiesforARWs
SamuelKarlssonandYifanBai
5.1 Introduction 67
5.2 Mapping 68
5.3 Stateestimation 70
5.3.1 Visualodometry 70
5.4 Objectdetectionandtracking 74
References 77
6. NavigationforARWs
BjörnLindqvist,VigneshKottayamViswanathan,SamuelKarlsson,
andSumeetGajananSatpute
6.1 Introduction 79
6.2 Navigationarchitecture 80
6.3 Reactivelocalpathplanners 80
6.3.1 Artificialpotentialfield 81
6.3.2 NonlinearMPCwithintegratedobstacleavoidance 83
6.4 Globalpathplanners 92
∗
6.4.1 Map-basedplanningwithD+ 92
6.4.2 Coveragepathplanner 96
6.4.3 Effectiveheadingregulation 100
Contents ix
6.5 Conclusion 106
References 107
7. ExplorationwithARWs
AkashPatel,SamuelKarlsson,BjörnLindqvist,andAntonKoval
7.1 Introduction 109
7.2 Theoverallframeworkforexplorationandpathplanning 111
7.2.1 Environmentrepresentation 111
7.2.2 Frontierbasedexploration 113
7.3 Combinedpathplanningandexploration 122
7.3.1 Theproblem 123
7.3.2 ERRTsolution 124
7.4 Conclusions 125
References 125
8. ExternalforceestimationforARWs
AndreasPapadimitriouandSinaSharifMansouri
8.1 Introduction 129
8.1.1 Externalforceestimation 130
8.2 DisturbancerejectionNMPC 131
8.3 Examples 132
8.3.1 MAVsubjecttowind-walldisturbances 133
8.3.2 Reducingtheeffectofatetheredpayload 135
8.4 Conclusion 139
References 140
9. Perceptiondrivenguidancemodulesforaerial
manipulation
SamuelKarlssonandChristoforosKanellakis
9.1 Introduction 141
9.2 PerceptionarchitectureforARWguidance 143
9.3 Objecttracking 144
9.4 Objectlocalization 145
9.5 Aerialmanipulatorsystem 147
9.5.1 Hexacoptermanipulatorcarrier 147
9.5.2 TheCARMAaerialmanipulator 147
9.5.3 Visualsensor 148
9.6 Results 148
9.6.1 Objectdetection 149
9.6.2 Visualtracking 150
9.6.3 Stereobasedguidance 150
References 155