Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441005
J. Colmenares-Vazquez, Nicolas Marchand, J. Gomez-Balderas, Pedro Castillo, J. J. Téllez-Guzmán, J. Alvarez-Muñoz, Jonathan Dumon
In the present work, an adaptive backstepping algorithm is developed in order to counteract the effects of disturbances. These disturbances are modeled as a constant force in the translational model part and as a constant torque in the orientation model part. We make the deduction of the mathematical expression for the proposed control algorithm and also we show its performance in simulation. Additionally, we include some experiments for validating the results obtained via simulation.
{"title":"Position control of a quadrotor under external constant disturbance","authors":"J. Colmenares-Vazquez, Nicolas Marchand, J. Gomez-Balderas, Pedro Castillo, J. J. Téllez-Guzmán, J. Alvarez-Muñoz, Jonathan Dumon","doi":"10.1109/RED-UAS.2015.7441005","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441005","url":null,"abstract":"In the present work, an adaptive backstepping algorithm is developed in order to counteract the effects of disturbances. These disturbances are modeled as a constant force in the translational model part and as a constant torque in the orientation model part. We make the deduction of the mathematical expression for the proposed control algorithm and also we show its performance in simulation. Additionally, we include some experiments for validating the results obtained via simulation.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"13 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132610947","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7440994
M. Santos, M. Sarcinelli-Filho, R. Carelli
This paper presents a method for estimating the orientation and position of an unmanned aerial vehicle (UAV), through processing information provided by a RGB-D sensor and an inertial measurement unit (IMU) in order to inspect predefined points in an indoor environment. A fusion filter is implemented to correct the existing drift position and orientation errors on a commercial AR.Drone quadrotor model. In addition, it was adopted a PD controller to position the UAV in such points with predetermined orientations. Experiments involving abrupt maneuvers to induce errors in the estimation of position and orientation were carried out, to check the effectiveness of the developed 3D data capture system and the designed controller. Results show the success of the new approach integrating a data fusion system to estimate UAV position and orientation.
{"title":"Indoor waypoint UAV navigation using a RGB-D system","authors":"M. Santos, M. Sarcinelli-Filho, R. Carelli","doi":"10.1109/RED-UAS.2015.7440994","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440994","url":null,"abstract":"This paper presents a method for estimating the orientation and position of an unmanned aerial vehicle (UAV), through processing information provided by a RGB-D sensor and an inertial measurement unit (IMU) in order to inspect predefined points in an indoor environment. A fusion filter is implemented to correct the existing drift position and orientation errors on a commercial AR.Drone quadrotor model. In addition, it was adopted a PD controller to position the UAV in such points with predetermined orientations. Experiments involving abrupt maneuvers to induce errors in the estimation of position and orientation were carried out, to check the effectiveness of the developed 3D data capture system and the designed controller. Results show the success of the new approach integrating a data fusion system to estimate UAV position and orientation.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132948271","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441016
Giorgio Micconi, J. Aleotti, S. Caselli, G. Benassi, N. Zambelli, A. Zappettini
This work proposes a haptic teleoperation system of an unmanned aerial vehicle (UAV) aimed at localizing radiation sources in outdoor environments. Radiation sources are localized and identified by equipping the UAV with a CdZnTe-based custom X-ray detector providing light, compact, and low power operation. The UAV is guided in direct sight by the operator. The system allows exploration of potentially dangerous areas without a close exposure of the human operator. The operator is able to provide motion commands to the UAV while receiving force feedback from a 3DOF haptic interface. Force feedback provides an attractive basin around the location of the most intense detected radiation. Preliminary experiments have been conducted to test the elements of the system.
{"title":"Haptic guided UAV for detection of radiation sources in outdoor environments","authors":"Giorgio Micconi, J. Aleotti, S. Caselli, G. Benassi, N. Zambelli, A. Zappettini","doi":"10.1109/RED-UAS.2015.7441016","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441016","url":null,"abstract":"This work proposes a haptic teleoperation system of an unmanned aerial vehicle (UAV) aimed at localizing radiation sources in outdoor environments. Radiation sources are localized and identified by equipping the UAV with a CdZnTe-based custom X-ray detector providing light, compact, and low power operation. The UAV is guided in direct sight by the operator. The system allows exploration of potentially dangerous areas without a close exposure of the human operator. The operator is able to provide motion commands to the UAV while receiving force feedback from a 3DOF haptic interface. Force feedback provides an attractive basin around the location of the most intense detected radiation. Preliminary experiments have been conducted to test the elements of the system.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"2009 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127337650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441032
Jing Chang, J. Cieslak, A. Zolghadri, J. Dávila, Jun Zhou
This paper addresses the problem of quadrotor pitch/roll estimation when only IMU sensors are available. A Smooth Sliding Mode (SSM) algorithm is firstly considered to provide reliable estimation of pitch/roll angles under a smoothness disturbance assumption. The performance is compared to use a recently developed high-order sliding mode (HOSM) differentiator. In addition, the observer performance is discussed for the case where measurements are corrupted by bias and noise. Simulation results obtained on the nonlinear model of quadrotor illustrate the benefits of the proposed techniques.
{"title":"Design of sliding mode observers for quadrotor pitch/roll angle estimation via IMU measurements","authors":"Jing Chang, J. Cieslak, A. Zolghadri, J. Dávila, Jun Zhou","doi":"10.1109/RED-UAS.2015.7441032","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441032","url":null,"abstract":"This paper addresses the problem of quadrotor pitch/roll estimation when only IMU sensors are available. A Smooth Sliding Mode (SSM) algorithm is firstly considered to provide reliable estimation of pitch/roll angles under a smoothness disturbance assumption. The performance is compared to use a recently developed high-order sliding mode (HOSM) differentiator. In addition, the observer performance is discussed for the case where measurements are corrupted by bias and noise. Simulation results obtained on the nonlinear model of quadrotor illustrate the benefits of the proposed techniques.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"197 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114188026","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441014
Igor Henrique Beloti Pizetta, Alexandre Santos Brandão, M. Sarcinelli-Filho
This work proposes a high level dynamic model of a quadrotor UAV with a suspended load in the three dimensional space. Euler Lagrange equations are applied, and a nonlinear controller, based on partial feedback linearization, is proposed and used to guide the quadrotor in positioning and trajectory tracking tasks. The controller is responsible for stabilizing the vehicle and for rejecting the disturbance caused by the load during the flight maneuvers. The proposal is validated by simulation results obtained using the AuRoRA platform.
{"title":"Modelling and control of a quadrotor carrying a suspended load","authors":"Igor Henrique Beloti Pizetta, Alexandre Santos Brandão, M. Sarcinelli-Filho","doi":"10.1109/RED-UAS.2015.7441014","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441014","url":null,"abstract":"This work proposes a high level dynamic model of a quadrotor UAV with a suspended load in the three dimensional space. Euler Lagrange equations are applied, and a nonlinear controller, based on partial feedback linearization, is proposed and used to guide the quadrotor in positioning and trajectory tracking tasks. The controller is responsible for stabilizing the vehicle and for rejecting the disturbance caused by the load during the flight maneuvers. The proposal is validated by simulation results obtained using the AuRoRA platform.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126890245","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7440997
R. C. Gomes, G. Thé
The growing interest on service robotics with the use and exploitation of unmanned aerial vehicles has revealed important issues related to safety and fail prevention during navigation, and recent research has been devoted to understand and modeling the breaking of 1, 2 or even 3 motors. In this context, the present paper investigates the dynamics of an unmanned aerial vehicle of quadrotor type using PID controllers before a scenario of total failure in two opposite engines and analyses the existing relation between an equipment design issue and its navigation condition after such a failure. As a contribution, it is proposed and discussed from simulations a strategy to mitigate the mentioned failure by landing the quadrotor in a smoothly fashion. At last, preliminary results of a real failure scenario are shown to match simulated predictions.
{"title":"PID-based fail-safe strategy against the break of opposite motors in quadcopters","authors":"R. C. Gomes, G. Thé","doi":"10.1109/RED-UAS.2015.7440997","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440997","url":null,"abstract":"The growing interest on service robotics with the use and exploitation of unmanned aerial vehicles has revealed important issues related to safety and fail prevention during navigation, and recent research has been devoted to understand and modeling the breaking of 1, 2 or even 3 motors. In this context, the present paper investigates the dynamics of an unmanned aerial vehicle of quadrotor type using PID controllers before a scenario of total failure in two opposite engines and analyses the existing relation between an equipment design issue and its navigation condition after such a failure. As a contribution, it is proposed and discussed from simulations a strategy to mitigate the mentioned failure by landing the quadrotor in a smoothly fashion. At last, preliminary results of a real failure scenario are shown to match simulated predictions.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132754314","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7440984
A. Mora, Sai Vemprala, Adrian Carrio, S. Saripalli
Crop monitoring of large areas using unmanned aerial vehicles (UAV) is a process that involves multiple trade-offs. For a particular location a multicopter may be more suitable than a fixed-wing due to landscape, altitude, or weather conditions. In other cases the opposite may also be true and the best solution considering additional factors such as available energy and the time it takes to sample the area of interest. In this paper we evaluate the energy consumption, the total distance traveled, and the total time it takes for two unmanned aerial platforms, a fixed-wing and a multicopter to traverse different trajectories. We evaluate the performance of these two platforms using two trajectories: lawnmower and spiral. These trajectories guarantee a 60% both in overlap and sidelap. We analyze the trade-offs between traversing a given trajectory with both platforms and the impact of using a lawnmower instead of a spiral pattern in the context of precision agriculture applications.
{"title":"Flight performance assessment of land surveying trajectories for multiple UAV platforms","authors":"A. Mora, Sai Vemprala, Adrian Carrio, S. Saripalli","doi":"10.1109/RED-UAS.2015.7440984","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440984","url":null,"abstract":"Crop monitoring of large areas using unmanned aerial vehicles (UAV) is a process that involves multiple trade-offs. For a particular location a multicopter may be more suitable than a fixed-wing due to landscape, altitude, or weather conditions. In other cases the opposite may also be true and the best solution considering additional factors such as available energy and the time it takes to sample the area of interest. In this paper we evaluate the energy consumption, the total distance traveled, and the total time it takes for two unmanned aerial platforms, a fixed-wing and a multicopter to traverse different trajectories. We evaluate the performance of these two platforms using two trajectories: lawnmower and spiral. These trajectories guarantee a 60% both in overlap and sidelap. We analyze the trade-offs between traversing a given trajectory with both platforms and the impact of using a lawnmower instead of a spiral pattern in the context of precision agriculture applications.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126623984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441017
J. Vázquez, M. Giacomini, J. Escareño, E. Rubio, H. Sossa
In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In particular, we define an objective functional to evaluate the optimality of the contact points and we propose a preliminary strategy to identify the optimal contact points. Simulations and experimental are presented to support the actual proposal.
{"title":"Optimal grasping points identification for a rotational four-fingered aerogripper","authors":"J. Vázquez, M. Giacomini, J. Escareño, E. Rubio, H. Sossa","doi":"10.1109/RED-UAS.2015.7441017","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441017","url":null,"abstract":"In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In particular, we define an objective functional to evaluate the optimality of the contact points and we propose a preliminary strategy to identify the optimal contact points. Simulations and experimental are presented to support the actual proposal.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117111186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441020
V. Martinez, O. García, A. Sanchez, V. Parra, A. Escobar
This paper focuses on a convertible unmanned aerial vehicle (CUAV) whose main characteristics is to perform hover flight for launch or recovery, and horizontal mode during cruise. The dynamic model is obtained using the Newton-Euler approach and it considers the aerodynamic effects. An adaptive backstepping control, based on quaternions, is proposed for the complete operation of the CUAV. The closed-loop system guarantees the stability under a singularity-free representation. Numerical simulations show the performance of the aerial vehicle and the stabilization of the closed-loop system, and finally the avionics of the CUAV is described.
{"title":"Adaptive backstepping control for a convertible UAV","authors":"V. Martinez, O. García, A. Sanchez, V. Parra, A. Escobar","doi":"10.1109/RED-UAS.2015.7441020","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441020","url":null,"abstract":"This paper focuses on a convertible unmanned aerial vehicle (CUAV) whose main characteristics is to perform hover flight for launch or recovery, and horizontal mode during cruise. The dynamic model is obtained using the Newton-Euler approach and it considers the aerodynamic effects. An adaptive backstepping control, based on quaternions, is proposed for the complete operation of the CUAV. The closed-loop system guarantees the stability under a singularity-free representation. Numerical simulations show the performance of the aerial vehicle and the stabilization of the closed-loop system, and finally the avionics of the CUAV is described.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133378973","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441034
Alexandre Da S. Fernandes, A. Brandão, Elmer R. Llanos Villarreal
The paper presents a brief study of quadrotor vehicle, its principle of operation and its high-level dynamic model. The proposal of altitude and yaw controllers is also presented. PID, LQR (LQRI) and Lyapunov based control techniques are here compared according to Integral Absolute Error (IAE) and Control Signal Energy criteria. The performance is analyzed in terms of the response time and energy spent to accomplish the task. The optimum controller gains are defined by simulation, after establishing the maximum value of the criteria. In the sequence, some experiments are run to validate the controllers and to compared them in real scenarios of regulation and trajectory tracking tasks.
{"title":"A comparative study of altitude and yaw controllers for rotorcraft UAV","authors":"Alexandre Da S. Fernandes, A. Brandão, Elmer R. Llanos Villarreal","doi":"10.1109/RED-UAS.2015.7441034","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441034","url":null,"abstract":"The paper presents a brief study of quadrotor vehicle, its principle of operation and its high-level dynamic model. The proposal of altitude and yaw controllers is also presented. PID, LQR (LQRI) and Lyapunov based control techniques are here compared according to Integral Absolute Error (IAE) and Control Signal Energy criteria. The performance is analyzed in terms of the response time and energy spent to accomplish the task. The optimum controller gains are defined by simulation, after establishing the maximum value of the criteria. In the sequence, some experiments are run to validate the controllers and to compared them in real scenarios of regulation and trajectory tracking tasks.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125591991","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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