Title :
Quadrotor landing on an inclined platform of a moving ground vehicle
Author :
Vlantis, Panagiotis ; Marantos, Panos ; Bechlioulis, Charalampos P. ; Kyriakopoulos, Kostas J.
Author_Institution :
Sch. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens, Greece
Abstract :
In this work we study the problem of landing a quadrotor on an inclined moving platform. The aerial robot employs an forward looking on-board camera to detect and observe the landing platform, which is carried by a mobile robot moving independently on an inclined surface. The platform may also be tilted with respect to the mobile robot. The overall goal is to design the aerial robot´s control inputs such that it initially approaches the platform, while maintaining it within the camera´s field of view and finally lands on it, in a way that minimizes the errors in position, attitude and velocity, while avoiding collision. Owing to the inclined ground and landing surface, the desired final state of the aerial robot is not an equilibrium state, which complicates significantly the control design. In that respect, a discrete-time non-linear model predictive controller was developed that optimizes both the trajectories and the time horizon, towards achieving the aforementioned objectives while respecting the input constraints as well. Finally, an extensive experimental study, with a Pioneer mobile robot and a Parrot ARDrone quadrotor, clarifies and verifies the theoretical findings.
Keywords :
aerospace robotics; collision avoidance; control system synthesis; discrete time systems; helicopters; mobile robots; nonlinear control systems; predictive control; trajectory optimisation (aerospace); Parrot ARDrone quadrotor; Pioneer mobile robot; aerial robot control inputs; camera field of view; collision avoidance; control design; discrete-time nonlinear model predictive controller; error minimization; forward looking on-board camera; landing surface; moving ground vehicle inclined platform; quadrotor landing; time horizon optimization; trajectory optimization; Cameras; Collision avoidance; Mobile robots; Optimization; Robot vision systems; Trajectory;
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
DOI :
10.1109/ICRA.2015.7139490