Cooperative Transport of a Suspended Payload via Two Aerial Robots With Inertial Sensing
In this article, we address the problem of aerial transport of a suspended payload by two vehicles with minimal sensing and computational requirements. Herein, the leader-follower paradigm is adopted, allowing the follower robot to estimate and stabilize the formation using only feedback from its on...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9844732/ |
| _version_ | 1828286722639659008 |
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| author | Heng Xie Kaixu Dong Pakpong Chirarattananon |
| author_facet | Heng Xie Kaixu Dong Pakpong Chirarattananon |
| author_sort | Heng Xie |
| collection | DOAJ |
| description | In this article, we address the problem of aerial transport of a suspended payload by two vehicles with minimal sensing and computational requirements. Herein, the leader-follower paradigm is adopted, allowing the follower robot to estimate and stabilize the formation using only feedback from its onboard inertial sensor. This is achieved through an analysis of the underlying dynamics of the coupled system. The gained insights lead to the introduction of a two-stage Kalman-based estimation strategy and the linear control laws that are capable of robustly dealing with the underactuated leader-payload-follower system. The vision-less methods have been verified through a series of flight experiments. The efficiency and the robustness of the schemes enable the cooperative payload transport to be accomplished by two sub-100-g robots with highly limited computational power in both indoor and outdoor environments. |
| first_indexed | 2024-04-13T09:36:39Z |
| format | Article |
| id | doaj.art-84ae8b6f3e9e4e4c8d7033ddb3934f9b |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-13T09:36:39Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-84ae8b6f3e9e4e4c8d7033ddb3934f9b2022-12-22T02:52:05ZengIEEEIEEE Access2169-35362022-01-0110817648177610.1109/ACCESS.2022.31949329844732Cooperative Transport of a Suspended Payload via Two Aerial Robots With Inertial SensingHeng Xie0Kaixu Dong1https://orcid.org/0000-0002-8891-184XPakpong Chirarattananon2https://orcid.org/0000-0003-0142-8394Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, ChinaDepartment of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, ChinaDepartment of Biomedical Engineering, City University of Hong Kong, Hong Kong, SAR, ChinaIn this article, we address the problem of aerial transport of a suspended payload by two vehicles with minimal sensing and computational requirements. Herein, the leader-follower paradigm is adopted, allowing the follower robot to estimate and stabilize the formation using only feedback from its onboard inertial sensor. This is achieved through an analysis of the underlying dynamics of the coupled system. The gained insights lead to the introduction of a two-stage Kalman-based estimation strategy and the linear control laws that are capable of robustly dealing with the underactuated leader-payload-follower system. The vision-less methods have been verified through a series of flight experiments. The efficiency and the robustness of the schemes enable the cooperative payload transport to be accomplished by two sub-100-g robots with highly limited computational power in both indoor and outdoor environments.https://ieeexplore.ieee.org/document/9844732/Autonomous vehiclesintelligent transportation systemsstate estimation |
| spellingShingle | Heng Xie Kaixu Dong Pakpong Chirarattananon Cooperative Transport of a Suspended Payload via Two Aerial Robots With Inertial Sensing IEEE Access Autonomous vehicles intelligent transportation systems state estimation |
| title | Cooperative Transport of a Suspended Payload via Two Aerial Robots With Inertial Sensing |
| title_full | Cooperative Transport of a Suspended Payload via Two Aerial Robots With Inertial Sensing |
| title_fullStr | Cooperative Transport of a Suspended Payload via Two Aerial Robots With Inertial Sensing |
| title_full_unstemmed | Cooperative Transport of a Suspended Payload via Two Aerial Robots With Inertial Sensing |
| title_short | Cooperative Transport of a Suspended Payload via Two Aerial Robots With Inertial Sensing |
| title_sort | cooperative transport of a suspended payload via two aerial robots with inertial sensing |
| topic | Autonomous vehicles intelligent transportation systems state estimation |
| url | https://ieeexplore.ieee.org/document/9844732/ |
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