Title: Safety in coordinated control of multiple unmanned aerial vehicle manipulator systems: Case of obstacle avoidance
Abstract: This paper treats the safety issues in coordinated transportation of an object via multiple Unmanned Aerial Vehicles with Manipulator Systems (UAVMS); in particular, the case of obstacle avoidance is considered. The proposed paradigm is based on the so-called Null-Space-based Behavioral (NSB) control approach, that allows to achieve multiple tasks simultaneously. Two different scenarios of bar transportation using multi-UAVMSs have been developed, tested and compared in simulation: in the first scenario, the obstacle avoidance is achieved at the coordination level, where the controller allows the whole system (UAVMSs and bar) to circumnavigate the obstacle; while in the second scenario only the UAVMS closest to the obstacle modifies its trajectory to overcome the obstacle by keeping the desired trajectory of the bar unchanged.
Publication Year: 2014
Publication Date: 2014-06-01
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 5
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