Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence

1. Auflage 2023
ISBN: 978-3-031-15395-2
Verlag: Springer International Publishing

Buch, Englisch, Band 151, 156 Seiten, Format (B × H): 155 mm x 235 mm, Gewicht: 309 g

Reihe: Springer Tracts in Advanced Robotics

This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.

Zielgruppe

Research

Autoren/Hrsg.

Tomi¿, Teodor

Tomic, Teodor

Fachgebiete

• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz

Inhaltsverzeichnis

Introduction.- Modeling.- Tracking and interaction control.- Wind estimation.- Force discrimination.- Applications and outlook.- Conclusion.