Cooperative Object Transport in 3D with Multiple Quadrotors Using No Peer Communication
Cooperative Object Transport in 3D with Multiple Quadrotors Using No Peer Communication
复制标题
不使用对等通信的多个四旋翼飞行器的 3D 协作对象传输
DOI：
10.1109/icra.2018.8460742
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
M. Schwager
中科院分区：
文献类型：
--
作者：
Zijian Wang;Sumeet Singh;M. Pavone;M. Schwager
我们提出了一个框架，使舰队的刚性连接的四旋翼空中机器人运输重物沿着一个已知的参考轨迹，没有机器人之间的通信或集中协调。利用分布式扳手控制器，我们在温和的几何条件下为整个装配提供指数稳定性保证。这是通过每个四旋翼独立解决局部优化问题来抵消组件中每个机器人的偏置扭矩效应来实现的。我们严格分析了对象的可控性，设计了一个分布式补偿方案来解决这些挑战，并表明，由此产生的战略集体保证充分的组控制权。为了确保在线实施的可行性，我们推导出净期望控制扳手的界限，表征每个四旋翼的输出扳手空间，并在这些输入约束下进行后续的轨迹优化。我们彻底验证了我们的方法在模拟与八个四旋翼运输一个沉重的物体在一个混乱的环境中受到各种来源的不确定性，并证明了算法的弹性。
We present a framework to enable a fleet of rigidly attached quadrotor aerial robots to transport heavy objects along a known reference trajectory without inter-robot communication or centralized coordination. Leveraging a distributed wrench controller, we provide exponential stability guarantees for the entire assembly, under a mild geometric condition. This is achieved by each quadrotor independently solving a local optimization problem to counteract the biased torque effects from each robot in the assembly. We rigorously analyze the controllability of the object, design a distributed compensation scheme to address these challenges, and show that the resulting strategy collectively guarantees full group control authority. To ensure feasibility for online implementation, we derive bounds on the net desired control wrench, characterize the output wrench space of each quadrotor, and perform subsequent trajectory optimization under these input constraints. We thoroughly validate our method in simulation with eight quadrotors transporting a heavy object in a cluttered environment subject to various sources of uncertainty, and demonstrate the algorithm's resilience.
影响因子：
7.8
作者：
Chen, Jianing;Gauci, Melvin;Gross, Roderich
通讯作者：
Gross, Roderich