RotorTM: A Flexible Simulator for Aerial Transportation and Manipulation
RotorTM: A Flexible Simulator for Aerial Transportation and Manipulation
复制标题
DOI：
10.1109/tro.2023.3336320
复制
发表时间：
2022-05
影响因子：
7.8
通讯作者：
Guanrui Li;Xinyang Liu;Giuseppe Loianno
中科院分区：
文献类型：
--
作者：
Guanrui Li;Xinyang Liu;Giuseppe Loianno
低成本自主微型飞行器具有巨大的潜力，可以通过简化和加速复杂的任务（例如建筑、包裹递送以及搜索和救援）来帮助人类。这些系统可能由单个或多个车辆组成，可以配备被动连接机制，例如用于运输和操纵任务的刚性连接或电缆。然而，这些系统本质上是复杂的。它们通常处于欠驱动状态并在非线性流形配置空间中演化。此外，由于混合动力学随电缆张力条件的变化而变化，因此具有电缆悬挂负载的系统的复杂性也会增加。本文介绍了第一个空中运输和操纵模拟器，结合了不同的有效载荷和无源连接机制以及完整的系统动力学、规划和控制算法。此外，它还包括一个新颖的通用模型，用于解释具有电缆悬挂负载的航空系统的瞬态混合动力学，以密切模拟现实世界的系统。灵活直观的界面进一步增强了其可用性和多功能性。不同车辆配置的模拟与现实实验之间的比较表明了模拟器结果相对于现实世界设置的保真度。实验还显示了模拟器对于快速原型设计以及将空中运输和操纵系统过渡到现实世界部署的好处。
Low-cost autonomous micro aerial vehicles have great potential to help humans by simplifying and speeding up complex tasks, such as construction, package delivery, and search and rescue. These systems, which may consist of single or multiple vehicles, can be equipped with passive connection mechanisms, such as rigid links or cables for transportation and manipulation tasks. However, these systems are inherently complex. They are often underactuated and evolve in nonlinear manifold configuration spaces. In addition, the complexity escalates for systems with cable-suspended load due to the hybrid dynamics that vary with the cables' tension conditions. This article presents the first aerial transportation and manipulation simulator incorporating different payloads and passive connection mechanisms with full system dynamics, planning, and control algorithms. Furthermore, it includes a novel general model accounting for the transient hybrid dynamics for aerial systems with cable-suspended load to closely mimic real-world systems. The availability of a flexible and intuitive interface further contributes to its usability and versatility. Comparisons between simulations and real-world experiments with different vehicles' configurations show the fidelity of the simulator results with respect to real-world settings. The experiments also show the simulator's benefit for the rapid prototyping and transitioning of aerial transportation and manipulation systems to real-world deployment.