Autonomous Door Opening With the Interacting-BoomCopter UAV

2019 ◽  
Author(s):  
Daniel R. McArthur ◽  
Arindam B. Chowdhury ◽  
David J. Cappelleri
Keyword(s):  
Image Processing ◽  
Unmanned Aerial Vehicle ◽  
Physical Interaction ◽  
Light Weight ◽  
Processing Strategy ◽  
Flight Tests ◽  
End Effector ◽  
Door Opening ◽  
Task Autonomy ◽  
Aerial Vehicle

Abstract This paper presents the design of a light-weight, compliant end-effector and an image processing strategy that together enable the Interacting-BoomCopter (I-BC) unmanned aerial vehicle (UAV) to perform an autonomous door opening task. Autonomy is achieved through the use of feedback from an on-board camera for door detection & localization, and embedded force and distance sensors in the end-effector for detecting the physical interaction with the door. The results of several experimental flight tests are presented in which the end-effector and image processing strategy were deployed on the I-BC to successfully open a small enclosure door autonomously.

Autonomous Door Opening With the Interacting-BoomCopter Unmanned Aerial Vehicle

2020 ◽  
Vol 12 (2) ◽  
Author(s):  
Daniel R. McArthur ◽  
Arindam B. Chowdhury ◽  
David J. Cappelleri
Keyword(s):  
Image Processing ◽  
Unmanned Aerial Vehicle ◽  
Physical Interaction ◽  
Light Weight ◽  
Processing Strategy ◽  
Flight Tests ◽  
End Effector ◽  
Door Opening ◽  
Task Autonomy ◽  
Aerial Vehicle

Abstract This paper presents the design of a light-weight, compliant end-effector and an image processing strategy that together enable the Interacting-BoomCopter (I-BC) unmanned aerial vehicle (UAV) to perform an autonomous door-opening task. Autonomy is achieved through the use of feedback from an onboard camera for door detection & localization, and embedded force and distance sensors in the end-effector for detecting the physical interaction with the door. The results of several experimental flight tests are presented in which the end-effector and image processing strategy were deployed on the I-BC to successfully open a small enclosure door autonomously.

System Identification of an Unmanned Aerial Vehicle from Automated Flight Tests

2002 ◽  
Author(s):  
Younsaeng Lee ◽  
Seungjoo Kim ◽  
Jinyoung Suk ◽  
Hueonjoon Koo ◽  
Jongseong Kim
Keyword(s):  
System Identification ◽  
Unmanned Aerial Vehicle ◽  
Flight Tests ◽  
Aerial Vehicle

Modeling and flight testing of wing shaping for roll control of an unmanned aerial vehicle

2015 ◽  
Vol 3 (4) ◽  
pp. 192-204 ◽  
Author(s):  
Michael A. Thamann ◽  
Suzanne Weaver Smith ◽  
Sean C.C. Bailey ◽  
E. Brady Doepke ◽  
Scott W. Ashcraft
Keyword(s):  
Numerical Model ◽  
Unmanned Aerial Vehicle ◽  
Flight Testing ◽  
Flight Tests ◽  
Autonomous Flight ◽  
Roll Control ◽  
Modeling Process ◽  
Aerodynamic Properties ◽  
Aerial Vehicle

In this paper, an approach is described to implement autonomous (waypoint tracking) flight in a testbed airframe, which uses wing twist for roll control. These flights were performed using an existing commercial autopilot. Aileron effectiveness was identified as a parameter that could be modified to maintain roll control during autonomous flight. A modeling process was then developed to calculate the aileron effectiveness for a wing shaping demonstrator aircraft utilizing numerically determined aerodynamic properties. Simulations and flight tests with the testbed aircraft were performed that demonstrated suitability of the approach for autonomous flight. In-flight aileron doublets were used to validate the aileron effectiveness predicted by the numerical model, which matched within 7%.

scholarly journals Aerial physical interaction via IDA-PBC

2019 ◽  
Vol 38 (4) ◽  
pp. 403-421 ◽  
Author(s):  
Burak Yüksel ◽  
Cristian Secchi ◽  
Heinrich H. Bülthoff ◽  
Antonio Franchi
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Method ◽  
Low Cost ◽  
Surface Inspection ◽  
Physical Interaction ◽  
External Disturbances ◽  
Aerial Vehicle ◽  
Passivity Based Control ◽  
The Stability ◽  
First Time

This paper proposes the use of a novel control method based on interconnection and damping assignment–passivity-based control (IDA-PBC) in order to address the aerial physical interaction (APhI) problem for a quadrotor unmanned aerial vehicle (UAV). The apparent physical properties of the quadrotor are reshaped in order to achieve better APhI performances, while ensuring the stability of the interaction through passivity preservation. The robustness of the IDA-PBC method with respect to sensor noise is also analyzed. The direct measurement of the external wrench, needed to implement the control method, is compared with the use of a nonlinear Lyapunov-based wrench observer and advantages/disadvantages of both methods are discussed. The validity and practicability of the proposed APhI method is evaluated through experiments, where for the first time in the literature, a lightweight all-in-one low-cost force/torque (F/T) sensor is used onboard of a quadrotor. Two main scenarios are shown: a quadrotor responding to external disturbances while hovering (physical human–quadrotor interaction), and the same quadrotor sliding with a rigid tool along an uneven ceiling surface (inspection/painting-like task).

scholarly journals Issues of physical interaction of unmanned aircraft manipulators with ground objects

2018 ◽  
Vol 161 ◽  
pp. 03021 ◽  
Author(s):  
Vinh Nguyen ◽  
Oksana Solenaya ◽  
Petr Smirnov
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Flight Control ◽  
Unmanned Aircraft ◽  
Control Problems ◽  
Physical Interaction ◽  
Power Resources ◽  
The Earth ◽  
Manipulation System ◽  
Aerial Vehicle ◽  
Surrounding Space

Adding an onboard manipulation system to an unmanned aerial vehicle (UAV) significantly complicates framework, functioning algorithms, and leads to an increase in overall dimensions. The physical interaction of the manipulator with objects influences to unstabilization of UAV, which in turn leads to difficulties in positioning the UAV and reduces the accuracy of gripper motion. In addition, the physical interaction of the manipulator with objects requires increased power resources of UAVs. The article analyzes modern research of UAVs with a manipulator, including flight control problems, avoidance of contact with the earth, surrounding space, as well as manipulations with the captured object. On the basis of the analysis, a list of new problems arising in the physical interaction of UAVs with objects through an embedded manipulator is formulated.

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