Interleaved Predictive Control and Planning for an Unmanned Aerial Manipulator With on-the-Fly Rapid Re-Planning in Unknown Environments

Unmanned Aerial Manipulators (UAM) are gaining attention within the unmanned aerial systems research community. They can be used for aerial manipulation tasks such as object retrieval from confined and hard-to-reach spaces. The coupled dynamics between the arm and the base and also the limited fligh...

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Veröffentlicht in:	IEEE transactions on automation science and engineering Jg. 20; H. 3; S. 1690 - 1705
Hauptverfasser:	Yavari, Mohammadreza, Gupta, Kamal, Mehrandezh, Mehran
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.07.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Aerospace electronics Algorithms Autonomous aerial manipulators Confined spaces Control algorithms Flight control Flight time Machine learning Manipulators model predictive control Motion planning Multibody systems Navigation object rertieval Optimal control Planning Predictive control Proportional integral derivative Retrieval Robust control Sensors Steering Task analysis Trajectory Trajectory planning Unknown environments Unmanned aerial vehicles
ISSN:	1545-5955, 1558-3783
Online-Zugang:	Volltext
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