Feasibility study of a circularly towed cable-body system for UAV applications

Merz, Mariann; Johansen, Tor Arne

doi:10.1109/icuas.2016.7502573

Cited by 6 publications

(19 citation statements)

References 11 publications

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“…The detailed derivation and assumptions related to the towcable and endmass forces can be found in Ref. [2].…”

Section: Modelling Of Physical Systemmentioning

confidence: 99%

“…For the purposes of this study, we will assume that we can estimate the position of the towed endmass (possibly by use of a camera or a GPS transmitter) allowing us to use estimated position error as the primary control feedback parameter. However, it is [2] viewed as important to also measure the cable tension at the UAV attachment point to prevent exceeding the ultimate cable strength or allowing the cable from going slack (which could lead to sudden jerks and risk of cable rupture).…”

Section: Optimal Path Controlmentioning

confidence: 99%

“…[2] and a summary of the feasible ranges for the control inputs (V U AV and R T P ) and the resulting towed endbody orbit is shown in Fig. 5.…”

Section: A Optimal Uav Path Derived For Calm Airmentioning

confidence: 99%

“…Refer to [2] for a more detailed discussion and derivation of the OCP constraints. Solving the basic OCP thus involves determining the optimal control vector (u = [V U AV , R T P , H]) such that that the cost function J is minimized and constraints (11) - (14) are satisfied.…”

Section: E Optimal Control Problem (Ocp) -Basic Formulationmentioning

confidence: 99%

“…The steady-state solution can be obtained in a number of different ways, including by solving an initial value problem by use of discrete shooting methods, [2], [3], [4], [5], and by solving an optimization problem [6].…”

Section: Introductionmentioning

confidence: 99%

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Optimal path of a UAV engaged in wind-influenced circular towing

Merz

Johansen

2017

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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Abstract-This paper considers the dynamic optimization of the planned path for an Unmanned Aerial Vehicle (UAV) engaged in circular towing of a cable-body system, such that the motion of the towed endmass is stabilized with minimum motion relative to a desired target position. The ultimate research objective is to develop a concept to enable a fixed wing UAV to be used for end body precision positioning maneuvers such as object pickup/dropoff in order to extend the possible range for this type of missions. While solving for the UAV path that minimizes the towed object orbit in the absence of wind or other disturbances is fairly straight forward, obtaining the desired UAV path when subjected to winds is a challenging problem. The main contribution of this paper is to define a robust UAV path planning strategy that results in minimal motion of the towed endbody about a ground-fixed target position.

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“…The detailed derivation and assumptions related to the towcable and endmass forces can be found in Ref. [2].…”

Section: Modelling Of Physical Systemmentioning

confidence: 99%

Section: Optimal Path Controlmentioning

confidence: 99%

“…[2] and a summary of the feasible ranges for the control inputs (V U AV and R T P ) and the resulting towed endbody orbit is shown in Fig. 5.…”

Section: A Optimal Uav Path Derived For Calm Airmentioning

confidence: 99%

Section: E Optimal Control Problem (Ocp) -Basic Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Optimal path of a UAV engaged in wind-influenced circular towing

Merz

Johansen

2017

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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CasADi: a software framework for nonlinear optimization and optimal control

Andersson

Gillis

Horn³

et al. 2018

Math. Prog. Comp.

2,600

976

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We present CasADi, an open-source software framework for numerical optimization. CasADi is a general-purpose tool that can be used to model and solve optimization problems with a large degree of flexibility, larger than what is associated with popular algebraic modeling languages such as AMPL, GAMS, JuMP or Pyomo. Of special interest are problems constrained by differential equations, i.e. optimal control problems. CasADi is written in self-contained C++, but is most conveniently used via full-featured interfaces to Python, MATLAB or Octave. Since its inception in late 2009, it has been used successfully for academic teaching as well as in applications from multiple fields, including process control, robotics and aerospace. This article gives an up-to-date and accessible introduction to the CasADi framework, which has undergone numerous design improvements over the last seven years.

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Robotic Manipulation of a Rotating Chain

Phạm

Pham

2018

IEEE Trans. Robot.

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This paper considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manipulation is quasi-static in the sense that transitions are slow enough for the chain to be always in "rotational equilibrium". The curve traced by the chain in a rotating plane -its shape function -can be determined by a simple force analysis, yet it possesses a complex multi-solutions behavior typical of nonlinear systems. We prove that the configuration space of the uniformly rotating chain is homeomorphic to a two-dimensional surface embedded in R 3 . Using that representation, we devise a manipulation strategy for transiting between different rotation modes in a stable and controlled manner. We demonstrate the strategy on a physical robotic arm manipulating a rotating chain. Finally, we discuss how the ideas developed here might find fruitful applications in the study of other flexible objects, such as circularly towed aerial systems, elastic rods or concentric tubes.

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Feasibility study of a circularly towed cable-body system for UAV applications

Cited by 6 publications

References 11 publications

Optimal path of a UAV engaged in wind-influenced circular towing

Optimal path of a UAV engaged in wind-influenced circular towing

CasADi: a software framework for nonlinear optimization and optimal control

Robotic Manipulation of a Rotating Chain

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