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Aerial-ground Robotic System for Autonomous Delivery Tasks

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Aerial-ground Robotic System for Autonomous Delivery Tasks

IEEE International Conference on robotics and Automation

作者： Barbara Arbanas Antun Ivanovic Marko Car Tomislav Haus Matko Orsag Tamara Petrovic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 10000 Croatia

ISBN: (纸本)9781467380270

In this paper we present a study of a robotic system that consists of an unmanned aerial vehicle equipped with a pair of manipulator arms (MMUAV), and unmanned ground vehicles (UGVs). The envisioned application scenario includes autonomous packet transportation, where MMUAV is used for picking/placing packets, while both MMUAV and UGV can be used for packet transportation, with different energy consumption profiles. We propose a reactive method for decentralized task planning and coordination of robots using hierarchical task decomposition based on TAEMS framework. Our approach takes into account low-level motion-planning aspects of the system as well as high-level mission specification, making this a multi-layered system. For low-level planning we use sampling-based planner combined with obstacle-free trajectory generation. Methods are verified in simulations and on an experimental testbed, using 3D robotics quadcopter and Pioneer 3DX mobile robots with the results showing stability and robustness of the presented methods.

关键词： System Autonomous Delivery

A Weighting Factors Autotuning Strategy for Model Predictive Torque control of Permanent Magnet Synchronous Motor Based on Adaptive Multi-Objective Black Hole Algorithm 42

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A Weighting Factors Autotuning Strategy for Model Predictive...

42nd Chinese control Conference, CCC 2023

作者： Zhou, Zixiang Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

The rational design of weighting factors in the cost function for finite control set model predictive torque control (FCS-MPTC) has been a matter of great interest in power electronics and electrical drives. In order to solve this problem, a weighting factors autotuning strategy for FCS-MPTC of permanent magnet synchronous motor (PMSM) based on the adaptive multi-objective black hole algorithm (AMOBH) is proposed. In this paper, the design process of the FCS-MPTC algorithm is first analyzed in detail. Then, an AMOBH algorithm that can take into account both population convergence and population diversity is introduced, and based on this algorithm, the design problem of the weighting factors is successfully transformed into a multi-objective optimization problem by means of reconstructing the cost function and designing the motor operation information collected in real time as the objective functions of the multi-objective optimization algorithm. Simulation results show that the proposed method can find a set of weighting factor combinations suitable for different working condition requirements, and these weighting factors can effectively improve the operation performance of the PMSM system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Cost functions

Temperature Rising Model of Tubular Permanent Magnet Linear Synchronous Motor Based on Transfer Learning-Deep Neural Network 42

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Temperature Rising Model of Tubular Permanent Magnet Linear ...

42nd Chinese control Conference, CCC 2023

作者： Wang, YiFei Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

High temperature rise of permanent magnet linear synchronous motor can lead to irreversible demagnetization of the motor permanent magnet, which can negatively affect the motor performance. To address this problem, a thermal modeling analysis method based on Transfer learning-Deep neural network (TL-DNN) was proposed in this paper. Its specific implementation steps include (1) corresponding to different heat source inputs, the equivalent thermal circuit method and the finite element analysis was adopted based on the structure and main parameters of PMLSM including overall average temperature rise, coil temperature rise and permanent magnet temperature rise from the data sets of the motor;(2) TL-DNN was used to fit the functional relationship between the input source features and the output targets based on the characteristics of the sample data sets. In order to verify the accuracy of the prediction model with small sample data sets, this paper divided the proportion of the data set and compared the results with other classic nonparametric models (random forest, support vector machine, and deep neural network). The results show that the TL-DNN model outperforms other machine learning models and has better robustness and generalization ability when the training datasets are insufficient, and achieves an organic combination of physical field path model and data-driven model, which provides a feasible solution for PMLSM modeling in the case of small samples. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Finite element method

Modeling, Simulation and control of a Spincopter

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Modeling, Simulation and Control of a Spincopter

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： M. Orsag S. Bogdan T. Haus M. Bunic A. Krnjak Laboratory for Robotics and Intelligent Control Systems - LARICS Dept. of Control and Computer EngineeringFaculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia

In this article we present a mathematical model of a spincopter -an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter's physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plan software package. Finally, the proposed controller has been tested experimentally. Both, Xplane and experimental results confirmed the outcome from Simulink.

关键词： Aircraft Mathematical model Engines Propellers Force Atmospheric modeling

A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration

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arXiv 2021年

作者： Batinovic, Ana Ivanovic, Antun Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

—In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while planning paths and calculating information gain in short computation time, suitable for implementation on an on-board computer. To this end, we present a planner that randomly samples viewpoints in the environment map. It relies on a novel and efficient gain calculation based on the Recursive Shadowcasting algorithm. To determine the Next-Best-View (NBV), our planner uses a cuboid-based evaluation method that results in an enviably short computation time. To reduce the overall exploration time, we also use a dead end resolving strategy that allows us to quickly recover from dead ends in a challenging environment. Comparative experiments in simulation have shown that our approach outperforms the current state-of-the-art in terms of computational efficiency and total exploration time. The video of our approach can be found at https://***/playlist?list=PLC0C6uwoEQ8ZDhny1V dmFXLeTQOSBibQl. © 2021, CC BY-SA.

关键词： Antennas

Path Planning with Potential Field-Based Obstacle Avoidance in a 3D Environment by an Unmanned Aerial Vehicle

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arXiv 2023年

作者： Batinovic, Ana Goricanec, Jurica Markovic, Lovro Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles equipped with 3D sensors, such as LiDARs. It performs obstacle avoidance in real time and on an on-board computer. We present a novel algorithm based on the conventional Artificial Potential Field (APF) that corrects the planned trajectory to avoid obstacles. To this end, our modified algorithm uses a rotation-based component to avoid local minima. The smooth trajectory following, achieved with the MPC tracker, allows us to quickly change and re-plan the UAV trajectory. Comparative experiments in simulation have shown that our approach solves local minima problems in trajectory planning and generates more efficient paths to avoid potential collisions with static obstacles compared to the original APF method. © 2023, CC BY-SA.

关键词： Motion planning

Serial Chain Hinge Support for Soft, Robust and Effective Grasp

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arXiv 2022年

作者： Stuhne, Dario Vuletić, Jelena Car, Marsela Orsag, Matko LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia

This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach, resulting in lower maximum payload caused by a large deflection of fingers. To substantiate our claim we performed several experiments on payload and deflection of the SofIA gripper under both horizontal and vertical approach. In addition, we show that this reinforcement does not impede the original compliant behavior of the gripper, maintaining the original kinematic model functionality. We showcase the proprioceptive and exteroceptive capabilities (RGB-D camera and flex sensor) for two opposing manipulation problems: grasping small and large objects. Finally, we validated the improved SofIA gripper in agricultural and everyday activities. © 2022, CC BY.

关键词： Grippers

A multi-resolution frontier-based planner for autonomous 3D exploration

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arXiv 2020年

作者： Batinović, Ana Petrović, Tamara Ivanovic, Antun Petric, Frano Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

In this paper we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each scan. The planner is based on the detection of a frontier - a boundary between the explored and unknown part of the environment - and consists of the algorithm for detecting frontier points, followed by clustering of frontier points and selecting the best frontier point to be explored. Compared to existing frontier-based approaches, the planner is more scalable, i.e. it requires less time for the same data set size while ensuring similar exploration time. Performance is achieved by not relying on data obtained directly from the 3D sensor, but on data obtained by a mapping algorithm. In order to cluster the frontier points, we use the properties of the Octree environment representation, which allows easy analysis with different resolutions. The planner is tested in the simulation environment and in an outdoor test area with a UAV equipped with a lidar sensor. The results show the advantages of the approach. Copyright © 2020, The Authors. All rights reserved.

关键词： Conformal mapping

Design and Validation of a Wireless Drone Docking Station

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arXiv 2023年

作者： Stuhne, Dario Vasiljević, Goran Bogdan, Stjepan Kovačić, Zdenko LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia

Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power autonomy is the use of docking stations to support both landing and recharging of the drone. To this end, we introduce a novel wireless drone docking station with three commercial wireless charging modules. We have developed two independent units, both in mechanical and electrical aspects: the energy transmitting unit and the energy receiving unit. We have also studied the efficiency of wireless power transfer and demonstrated the advantages of connecting three receiver modules connected in series and parallel. We have achieved maximum output power of 96.5 W with a power transfer efficiency of 56.6% for the series connection of coils. Finally, we implemented the system in practice on a drone and tested both energy transfer and landing. Copyright © 2023, The Authors. All rights reserved.

关键词： Drones