Obstacle avoidance flight and shape estimation using catenary curve for manipulation of a cable hanged by aerial robots

Abiko, Satoko; Kuno, Atsushi; Narasaki, Shota; Oosedo, Atsushi; Kokubun, Shohei; Uchiyama, Masaru

doi:10.1109/robio.2017.8324729

Cited by 8 publications

(5 citation statements)

References 6 publications

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“…In previous studies dealing with the cooperative transportation of DLOs by teams of UAVs, DLO sections were modeled as catenaries in an equiload vertical configuration [18,45]. Additional sources confirm that catenaries are a good modeling alternative for the cooperative aerial transportation of DLOs [13], including visual servoing approaches [47], and collision avoidance [39,48]. However, catenary curves are hyperbolic functions that suffer from numerical singularities, which may lead the control system to collapse when the distances between quadrotors are too short or too large relative to the DLO's section length due to cable sagging [42].…”

Section: Related Workmentioning

confidence: 99%

Hybrid Modeling of Deformable Linear Objects for Their Cooperative Transportation by Teams of Quadrotors

et al. 2022

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This paper deals with the control of a team of unmanned air vehicles (UAVs), specifically quadrotors, for which their mission is the transportation of a deformable linear object (DLO), i.e., a cable, hose or similar object in quasi-stationary state, while cruising towards destination. Such missions have strong industrial applications in the transportation of hoses or power cables to specific locations, such as the emergency power or water supply in hazard situations such as fires or earthquake damaged structures. This control must be robust to withstand strong and sudden wind disturbances and remain stable after aggressive maneuvers, i.e., sharp changes of direction or acceleration. To cope with these, we have previously developed the online adaptation of the proportional derivative (PD) controllers of the quadrotors thrusters, implemented by a fuzzy logic rule system that experienced adaptation by a stochastic gradient rule. However, sagging conditions appearing when the transporting drones are too close or too far away induce singularities in the DLO catenary models, breaking apart the control system. The paper’s main contribution is the formulation of the hybrid selective model of the DLO sections as either catenaries or parabolas, which allows us to overcome these sagging conditions. We provide the specific decision rule to shift between DLO models. Simulation results demonstrate the performance of the proposed approach under stringent conditions.

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Section: Related Workmentioning

confidence: 99%

Hybrid Modeling of Deformable Linear Objects for Their Cooperative Transportation by Teams of Quadrotors

et al. 2022

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“…The shape of the suspension line of the steel core aluminium strand needs to be analyzed b0line formula is a curve equation used to describe the shape of a soft rope of uniform mass suspended between two points under uniform gravity. Although the steel‐core aluminium strand possesses a certain stiffness, the effect of stiffness on the shape of the wire is negligible in the context of a larger span [19].…”

Section: Mechanical Structure Design Of Robotmentioning

confidence: 99%

Structural design and simulation study of intelligent defect elimination equipment for high‐voltage transmission line pin defects

Pei,

Sun

2023

IET Generation Trans & Dist

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Transmission lines may suffer from pin defects, necessitating regular patrols and maintenance. The traditional maintenance approach not only involves a substantial workload and low efficiency but also poses a threat to the safety of maintenance personnel. To address the issue of pin defects in high‐voltage transmission lines, this paper introduces the design of an intelligent pin‐eliminating robot. The research focuses on two main aspects: firstly, analyzing the transmission line environment and employing Solidworks software to design the mechanical structure of the robot. Subsequently, a static stress analysis of the robot's structure is conducted to ensure the rationality of the design. The second aspect addresses the impact of the robot on the electric field distribution of the transmission line in high electric field intensity areas and whether the robot itself experiences discharge phenomena. COMSOL simulation software is utilized to globally calculate and analyze the electric field of the robot. Research results indicate that the threshold for the curvature radius of the pin‐eliminating robot's tip is 2.5mm, and values below this threshold may lead to the occurrence of discharge phenomena. The optimized pin‐eliminating robot, under normal operation, does not exhibit discharge phenomena in a 500kV strong electric field.

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“…No connection between UAV and ground 47,48,50,51,[53][54][55][56][58][59][60][61][62][63][64][65][66][67][68][69]71,[74][75][76][77][78][79][80][81][82][83][86][87][88]90,91,129,134,137,140,143] Connection for mechanical purposes during part of the operation [193] (only during recovery of payload) [119,131] Very high operating altitude (>1 km) [147,148,175] Short-term missions (inspection) [133,163]…”

Section: Reason For Not Transferring Power Over the Tether Publicationsmentioning

confidence: 99%

“…Other papers described the model of the camera used, such as the Foxeer Predator V4 [21], the Kinect [89], Realsense D435 [49] or the RecognitSys support module [181]. Installing motion capture camera systems in the environment externally to the UAV is another option for perceiving the UAV and the tether [20,23,24,30,33,44,50,53,60,91]. For outdoor applications, GNSS is an option that is adopted for localisation in some solutions, either using only GNSS data [55,119,146,147,149] or coupling it with IMU data [107,109,145,152,197].…”

Section: Simulationmentioning

confidence: 99%

Tethered Unmanned Aerial Vehicles—A Systematic Review

et al. 2023

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In recent years, there has been a remarkable surge in the development and research of tethered aerial systems, thus reflecting a growing interest in their diverse applications. Long-term missions involving aerial vehicles present significant challenges due to the limitations of current battery solutions. Tethered vehicles can circumvent such restrictions by receiving their power from an element on the ground such as a ground station or a mobile terrestrial platform. Tethered Unmanned Aerial Vehicles (UAVs) can also be applied to load transportation achieved by a single or multiple UAVs. This paper presents a comprehensive systematic literature review, with a special focus on solutions published in the last five years (2017–2022). It emphasizes the key characteristics that are capable of grouping publications by application scope, propulsion method, energy transfer solution, perception sensors, and control techniques adopted. The search was performed in six different databases, thereby resulting in 1172 unique publications, from which 182 were considered for inclusion in the data extraction phase of this review. Among the various aircraft types, multirotors emerged as the most widely used category. We also identified significant variations in the application scope of tethered UAVs, thus leading to tailored approaches for each use case, such as the fixed-wing model being predominant in the wind generation application and the lighter-than-air aircraft in the meteorology field. Notably, the classical Proportional–Integral–Derivative (PID) control scheme emerged as the predominant control methodology across the surveyed publications. Regarding energy transfer techniques, most publications did not explicitly describe their approach. However, among those that did, high-voltage DC energy transfer emerged as the preferred solution. In summary, this systematic literature review provides valuable insights into the current state of tethered aerial systems, thereby showcasing their potential as a robust and sustainable alternative to address the challenges associated with long-duration aerial missions and load transportation.

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Obstacle avoidance flight and shape estimation using catenary curve for manipulation of a cable hanged by aerial robots

Cited by 8 publications

References 6 publications

Hybrid Modeling of Deformable Linear Objects for Their Cooperative Transportation by Teams of Quadrotors

Hybrid Modeling of Deformable Linear Objects for Their Cooperative Transportation by Teams of Quadrotors

Structural design and simulation study of intelligent defect elimination equipment for high‐voltage transmission line pin defects

Tethered Unmanned Aerial Vehicles—A Systematic Review

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