Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial manipulation, interaction with moving structures should also be considered. In this paper, a multirotor-based aerial manipulator opening a daily-life moving structure, a hinged door, is presented. In order to address the constrained motion of the structure and to avoid collisions during operation, model predictive control (MPC) is applied to the derived coupled system dynamics between the aerial manipulator and the door involving state constraints. By implementing a constrained version of differential dynamic programming (DDP), MPC can generate position setpoints to the disturbance observer (DOB)-based robust controller in real-time, which is validated by our experimental results.
@article{arxiv.2003.08256,
title = {Aerial Manipulation using Model Predictive Control for Opening a Hinged Door},
author = {Dongjae Lee and Hoseong Seo and Dabin Kim and H. Jin Kim},
journal= {arXiv preprint arXiv:2003.08256},
year = {2020}
}
Comments
to be presented in 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020