Modeling and Control of PADUAV: A Passively Articulated Dual UAVs Platform for Aerial Manipulation

Jiali Sun, Kaidi Wang, Chuanbeibei Shi, Xiujia Li, Xiaojian Yi, Yushu Yu*, Fuchun Sun, Yiqun Dong

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

In this paper, we introduce PADUAV, a novel 5-DOF aerial platform designed to overcome the limitations of traditional tiltrotor vehicles. PADUAV features a unique mechanical design that incorporates two off-the-shelf quadrotors passively articulated to a rigid frame. This innovation enables free pitch rotation without mechanical constraints like cable winding, significantly enhancing its capabilities for various tasks. To control PADUAV's 5 degrees of freedom, we propose a versatile and straightforward 5-DOF geometric tracking control strategy that generates 2D force and 3D torque. A decomposition approach is designed to distribute the output to the torque and thrust commands for each subplane, with no need for complex optimization. We validate our approach through three simulation experiments conducted in the Gazebo environment, leveraging the utilities provided by the RotorS simulator. These experiments not only demonstrate the feasibility of our platform but also provide new perspectives for future aerial platform development, particularly in terms of simulation-based approaches.

源语言英语
主期刊名2024 IEEE International Conference on Robotics and Automation, ICRA 2024
出版商Institute of Electrical and Electronics Engineers Inc.
6159-6165
页数7
ISBN(电子版)9798350384574
DOI
出版状态已出版 - 2024
活动2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, 日本
期限: 13 5月 202417 5月 2024

出版系列

姓名Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

会议

会议2024 IEEE International Conference on Robotics and Automation, ICRA 2024
国家/地区日本
Yokohama
时期13/05/2417/05/24

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