Navigation control and stability investigation of a hexacopter equipped with an aerial manipulater

Ibrahim, Ibrahim N.; Izhevsk, Kalashnikov; Božek, Pavol; Akkad, M. Aiman Al; Almaghout, Karam

doi:10.1109/pc.2017.7976214

Cited by 12 publications

(5 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Using such equations, it is possible to derive the state of the MSS in the current epoch based on its states in the previous epoch. In [50], a detailed dynamic model for UAVs is given that takes into account significant effects and disturbances. In the current paper, however, a simple linear model is used.…”

Section: System Equationsmentioning

confidence: 99%

Information-Based Georeferencing of an Unmanned Aerial Vehicle by Dual State Kalman Filter with Implicit Measurement Equations

et al. 2021

View full text Add to dashboard Cite

Georeferencing a kinematic Multi-Sensor-System (MSS) within crowded areas, such as inner-cities, is a challenging task that should be conducted in the most reliable way possible. In such areas, the Global Navigation Satellite System (GNSS) data either contain inevitable errors or are not continuously available. Regardless of the environmental conditions, an Inertial Measurement Unit (IMU) is always subject to drifting, and therefore it cannot be fully trusted over time. Consequently, suitable filtering techniques are required that can compensate for such possible deficits and subsequently improve the georeferencing results. Sometimes it is also possible to improve the filter quality by engaging additional complementary information. This information could be taken from the surrounding environment of the MSS, which usually appears in the form of geometrical constraints. Since it is possible to have a high amount of such information in an environment of interest, their consideration could lead to an inefficient filtering procedure. Hence, suitable methodologies are necessary to be extended to the filtering framework to increase the efficiency while preserving the filter quality. In the current paper, we propose a Dual State Iterated Extended Kalman Filter (DSIEKF) that can efficiently georeference a MSS by taking into account additional geometrical information. The proposed methodology is based on implicit measurement equations and nonlinear geometrical constraints, which are applied to a real case scenario to further evaluate its performance.

show abstract

Section: System Equationsmentioning

confidence: 99%

Information-Based Georeferencing of an Unmanned Aerial Vehicle by Dual State Kalman Filter with Implicit Measurement Equations

et al. 2021

View full text Add to dashboard Cite

show abstract

“…In this paper the flight model equations and UAV physical constraints are similar to [21,22]. A simplified kinematics model of a UAV flying in a three-dimensional airspace is of interest.…”

Section: Uav Equations Of Motionmentioning

confidence: 99%

Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

Ibrahim¹,

Karam²,

Akkad³

2018

Instrumentation Engineering, Electronics and Telecommunications

Self Cite

View full text Add to dashboard Cite

In this paper, a method for collision-free three-dimensional autonomous navigation of an underactuated coupled non-holonomic unmanned aerial vehicle (UAV) among obstacles was proposed. This method will be the basis for designing a planner for the UAV trajectory guidance in a 3D cluttered environment. The planner assumes that the cost of flying over an area is independent of the path through which the UAV reaches that area, however this is not always true. Moreover, the path problem is not formulated as a matter of numeric cost minimization to be solved by methods like dynamic programming, which is time-consuming. A dynamic model of six degrees of freedom hexacopter equipped with a robotic arm has been formulated using Newton-Euler's method. Then, the equations of motion of the UAV are derived by including disturbances analysis. The derived dynamic model reflects the real motion of the hexacopter with respect to the earth, which is also characterized by nonlinearity, time variance, underactuation and coupling among the equations' variables. This paper suggests bio-inspired and sample-based algorithms in order to solve and optimize the threedimensional path-planning problem. A unique real-time obstacle avoidance approach based on artificial potential field concept in addition to an off-line genetic algorithm were investigated.

show abstract

“…By dimension there are small craft aerial manipulation when a very light robot arm is attached to the quadrotor, helicopter platform and a fully actuated seven Degrees of Freedom redundant industrial robotic arm for a heavyweight manipulator in Huber et al (2013). Several dimensions of UAVs and multi-rotor can be used to carry a robot arm in manipulation tasks, in Ibrahim et al (2017), the authors present a hexacopter with a 3-Dof manipulator arm modeled with a Newton-Euler method.…”

Section: Introductionmentioning

confidence: 99%

Combined algorithms for analytical inverse kinematics solving and control of the Q-PRR aerial manipulator*

Bouzgou

Benchikh

Nouvelière

et al. 2022

Mechanics Based Design of Structures and Machines

View full text Add to dashboard Cite

This paper presents the design and modeling of a new aerial manipulator system, called Q-PRR, composed of three joints with a fixed base in the center of mass of the multirotor considered as a whole system. This structure has a prismatic joint as a first joint which allows to keep the center of gravity of the Q-PRR as close as possible to the center of gravity of the multirotor. This will also allow to reduce the influence of arm motion on the multirotor roll thus to ensure the stability of the system on trajectory tracking with dynamic changes in the multirotor's center of gravity. Furthermore, the configuration of the manipulator arm for the desired position of the end-effector given by the inverse kinematics model is kept without any change in the position and attitude of the multirotor. This paper develops both forward and inverse kinematics models for a nonlinear underactuated system using the Denavit-Hartenberg notation. When a new algorithm is presented for the inverse kinematics based on Levenberg-Marquardt algorithm. Then, the dynamic model in the joint spaces is developed with the Lagrangian formalism. The Q-PRR is controlled using a model-free control with a comparison of two states, a free fly and disturbance forces applied to the whole system with manipulator arm movement.

show abstract

Navigation control and stability investigation of a hexacopter equipped with an aerial manipulater

Cited by 12 publications

References 7 publications

Information-Based Georeferencing of an Unmanned Aerial Vehicle by Dual State Kalman Filter with Implicit Measurement Equations

Information-Based Georeferencing of an Unmanned Aerial Vehicle by Dual State Kalman Filter with Implicit Measurement Equations

Collision free 3D navigation algorithms and their implementation in an autonomous flying robot

Combined algorithms for analytical inverse kinematics solving and control of the Q-PRR aerial manipulator*

Contact Info

Product

Resources

About