2019/07/31 by Başaran Bahadır Koçer, Mehmet Tiryaki, Kocer, Basaran Bahadir +7 · 1 citation
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1907.13594
openalex publication_date 2019/07/31 · openalex created_date 2022/07/19 · openalex updated_date 2026/07/28
Being motivated by ceiling inspection applications via unmanned aerial\nvehicles (UAVs) which require close proximity flight to surfaces, a systematic\ncontrol approach enabling safe and accurate close proximity flight is proposed\nin this work. There are two main challenges for close proximity flights: (i)\nthe trust characteristics varies drastically for the different distance from\nthe ceiling which results in a complex nonlinear dynamics; (ii) the system\nneeds to consider physical and environmental constraints to safely fly in close\nproximity. To address these challenges, a novel framework consisting of a\nconstrained optimization-based force estimation and an optimization-based\nnonlinear controller is proposed. Experimental results illustrate that the\nperformance of the proposed control approach can stabilize UAV down to 1 cm\ndistance to the ceiling. Furthermore, we report that the UAV consumes up to\n12.5% less power when it is operated 1 cm distance to ceiling, which is\npromising potential for more battery-efficient inspection flights.\n