Coordinated control of aerial robotic manipulators: theory and experiments
Creators
- 1. University of Basilicata, Potenza, Italy
- 2. Center for Advanced Aerospace Technologies (CATEC), Sevilla, Spain
- 3. University of Cassino and Southern Lazio, Cassino, Italy
- 4. University of Sevilla, Sevilla, Spain.
Description
This paper presents a three-layer control architecture for coordinated control of multiple aerial manipulators (UAVMs): the centralized top layer plans the end-effector desired trajectories of each UAVM; the middle layer, local to each vehicle, computes the corresponding motion references; the bottom layer is a low level dynamic motion controller, which tracks the motion references. At second layer, the overall mission is hierarchically decomposed in a set of elementary behaviors, which are combined together, via the Null Space-based Behavioral approach, into more complex compound behaviors. For each UAVM, the suitable compound behavior to be executed is selected by a supervisor. The proposed framework has been tested through an experimental campaign.
Files
TCST18_preprint.pdf
Files
(3.1 MB)
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