An Aerodynamic Extension for Motion Planning with Dynamics Awareness in Aerial Long-Reach Manipulators
المؤلفون المشاركون
Ollero, Anibal
Caballero, Alvaro
Sanchez-Cuevas, Pedro J.
Bejar, Manuel
Trujillo, Miguel A.
Heredia, Guillermo
المصدر
International Journal of Aerospace Engineering
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-17، 17ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-09-19
دولة النشر
مصر
عدد الصفحات
17
الملخص EN
This paper presents a novel method for motion planning of aerial long-reach manipulators that considers the aerodynamic effects generated by close surfaces in the trajectory generation process.
The aerial manipulation system consists of a multirotor equipped with a robotic long-reach arm that enables multidirectional inspection and also increases considerably the safety distance between the rotors and the inspected elements.
Since these systems operate in the proximity of elements that can modify significantly the rotors’ airflow, the inclusion of Aerodynamics Awareness within the motion planning process is required to ensure robust obstacle avoidance.
To this end, a proper characterisation of the aerodynamic effects based on both theoretical and experimental considerations has been derived.
This characterisation is taken into account in the trajectory generation process to discard states whose associated aerodynamic phenomena are not well compensated by the system controller and to explore alternatives that lead to the most efficient trajectories within the area of safe operation.
Moreover, the motion planner also stands out for three other relevant features: the joint consideration of the multirotor and the robotic long-reach arm, the generation of efficient trajectories in terms of energy consumption, and the Dynamics Awareness of the strong coupling between the aerial platform and the robotic arm.
The resulting motion planner has been successfully tested in a simulated environment that faithfully reflects an application scenario strongly affected by aerodynamic effects: the inspection of bridges to find potential cracks in the surface of pillars.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Caballero, Alvaro& Sanchez-Cuevas, Pedro J.& Bejar, Manuel& Heredia, Guillermo& Trujillo, Miguel A.& Ollero, Anibal. 2020. An Aerodynamic Extension for Motion Planning with Dynamics Awareness in Aerial Long-Reach Manipulators. International Journal of Aerospace Engineering،Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1168129
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Caballero, Alvaro…[et al.]. An Aerodynamic Extension for Motion Planning with Dynamics Awareness in Aerial Long-Reach Manipulators. International Journal of Aerospace Engineering No. 2020 (2020), pp.1-17.
https://search.emarefa.net/detail/BIM-1168129
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Caballero, Alvaro& Sanchez-Cuevas, Pedro J.& Bejar, Manuel& Heredia, Guillermo& Trujillo, Miguel A.& Ollero, Anibal. An Aerodynamic Extension for Motion Planning with Dynamics Awareness in Aerial Long-Reach Manipulators. International Journal of Aerospace Engineering. 2020. Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1168129
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1168129
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر