TY - GEN
T1 - Ground trajectory control of an unmanned aerial-ground vehicle using thrust vectoring for precise grasping
AU - Mishra, Shatadal
AU - Patnaik, Karishma
AU - Garrard, Yizhuang
AU - Chase, Zachary
AU - Ploughe, Michael
AU - Zhang, Wenlong
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - This paper presents the development of a novel hybrid unmanned aerial-ground vehicle (UAGV) to improve the success rate in grasping tasks. With the proposed method, the vehicle lands near the object and attempts grasping in its ground modality. A passive propulsion mechanism using motorized deflectors is employed for the ground locomotion. A nonlinear thrust vector model for ground locomotion is derived and validated in SolidWorks simulations. A nonlinear model predictive controller (NMPC) is employed for precise ground navigation. Multiple experiments are conducted with different initial conditions to demonstrate the performance of the proposed UAGV and NMPC for autonomous grasping. It is shown that the system is able to reliably reach and grasp the object when initially aligned with the object at distances between 1 and 1.5 meters.
AB - This paper presents the development of a novel hybrid unmanned aerial-ground vehicle (UAGV) to improve the success rate in grasping tasks. With the proposed method, the vehicle lands near the object and attempts grasping in its ground modality. A passive propulsion mechanism using motorized deflectors is employed for the ground locomotion. A nonlinear thrust vector model for ground locomotion is derived and validated in SolidWorks simulations. A nonlinear model predictive controller (NMPC) is employed for precise ground navigation. Multiple experiments are conducted with different initial conditions to demonstrate the performance of the proposed UAGV and NMPC for autonomous grasping. It is shown that the system is able to reliably reach and grasp the object when initially aligned with the object at distances between 1 and 1.5 meters.
UR - http://www.scopus.com/inward/record.url?scp=85090395929&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85090395929&partnerID=8YFLogxK
U2 - 10.1109/AIM43001.2020.9158943
DO - 10.1109/AIM43001.2020.9158943
M3 - Conference contribution
AN - SCOPUS:85090395929
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1270
EP - 1275
BT - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Y2 - 6 July 2020 through 9 July 2020
ER -