Geometric Control for Dynamic Aerial Manipulation and Transportation

动态空中操纵和运输的几何控制

• 批准号: 1538869
• 负责人: Koushil Sreenath
• 金额: $ 35.69万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-09-01 至 2018-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1538869&HistoricalAwards=false
• 关键词: Geometric; Control; Dynamic; Aerial; Manipulation; Geometric; Control; Dynamic; Aerial; Manipulation

There is a need for safe and reliable aerial load transport through complex environments. In developing countries road networks may not exist or may be inaccessible for significant parts of the year due to seasonal rain, flood, or snow. In dense urban areas, energy and time costs of transportation are rapidly increasing due to road congestion. Autonomous aerial vehicles have emerged as a fast, economical alternative to delivery using traditional ground-based infrastructure. This project will show how the cargo-carrying limitations of single aerial vehicles may be overcome using multiple vehicles to cooperatively transport cable-supported loads. Current control approaches impede progress in this domain by ignoring the tight dynamical coupling between multiple aerial robots and the shared cable-suspended load, the dynamics on manifolds, the unilateral cable tension constraints, the collision constraints, the multiple hybrid dynamical modes, and the physical system limits. This project will address these issues, and furthermore show how operational flexibility associated with redundant vehicles and the hybrid nature of cable support may be exploited to achieve greater maneuverability of the load-carrying formation.The overarching goal of this work is to understand the science at the intersection of geometric control and convex optimization for achieving cooperative highly-dynamic aerial manipulation that explicitly addresses the hybrid dynamics of the system while providing formal guarantees of stability and safety. The transformative nature of this research stems from its ability to generate theoretical advances in feedback control on multiple levels, while also being firmly grounded in being demonstrated on a physical system with stringent performance requirements and safety constraints. This work is therefore guided by the following goals (1) Formulate constrained geometric control for systems evolving on manifolds to enforce input and state constraints; (2) Develop safety-critical geometric control for systems evolving on manifolds to enforce formal collision-free dynamic motion; and (3) Demonstrate highly dynamic multi-agent cooperative aerial manipulation and transportation that switches between multiple hybrid dynamical modes. As a result of these research goals, this work has the potential to enable the next generation of aerial load transportation using teams of small unmanned aerial robots.

需要通过复杂的环境安全可靠的航空载荷运输。在发展中国家，由于季节性降雨，洪水或降雪，道路网络可能不存在，也可能无法进入一年中的大部分地区。在密集的城市地区，由于道路拥堵，运输的能源和时间成本正在迅速增加。自动驾驶汽车已成为使用传统地面基础设施交付的快速，经济的替代方案。该项目将展示如何使用多辆车可以合作运输电缆支撑的负载来克服单飞机的货运限制。当前的控制方法通过忽略多个空中机器人与共享电缆悬浮负载之间的紧密动态耦合，歧管上的动力学，单侧电缆张力约束，碰撞约束，多个混合动力学模式以及物理系统限制，从而阻碍了该领域的进展。该项目将解决这些问题，此外还可以利用与冗余车辆相关的操作柔韧性以及有线支撑的混合性质，以实现载荷载荷形成的更大的可操作性。这项工作的总体目标是了解科学的理解科学，以实现数量控制和孔子的高度模型，以实现高度模型，以实现综合型号，以实现综合型号。同时提供正式保证稳定性和安全性。 这项研究的变革性质源于其在多个层面上对反馈控制的理论进步的能力，同时也以严格的性能要求和安全性约束的物理系统进行了牢固的基础。 因此，这项工作以以下目标为指导（1）对在流形中演​​变的系统制定有限的几何控制，以执行输入和状态约束； （2）开发针对歧管发展的系统的安全 - 关键几何控制，以实施正式的无碰撞动态运动； （3）展示了高度动态的多代理合作空中操纵和运输，在多种混合动力学模式之间切换。 由于这些研究目标，这项工作有可能使用小型无人空中机器人团队实现下一代空中负载运输。