Ground trajectory control of an unmanned aerial-ground vehicle using thrust vectoring for precise grasping

Shatadal Mishra, Karishma Patnaik, Yizhuang Garrard, Zachary Chase, Michael Ploughe, Wenlong Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1270-1275
Number of pages6
ISBN (Electronic)9781728167947
DOIs
StatePublished - Jul 2020
Event2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
Duration: Jul 6 2020Jul 9 2020

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Conference

Conference2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Country/TerritoryUnited States
CityBoston
Period7/6/207/9/20

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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