This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.
Author(s): Teodor Tomić
Series: Springer Tracts in Advanced Robotics, 151
Publisher: Springer
Year: 2022
Language: English
Pages: 167
City: Cham
Foreword
Preface
Contents
Acronyms
Notation
1 Introduction
1.1 Problem Statement
1.2 Related Work
1.3 Contributions
References
2 Modeling
2.1 Dynamics Model
2.1.1 Rigid Body Dynamics
2.1.2 Propulsion Wrench
2.1.3 Propeller Aerodynamics
2.1.4 Simplified Drag Model
2.1.5 Reduced Brushless DC Motor Model
2.2 Parameter Identification
2.3 External Wrench Estimation
2.3.1 Momentum-Based Estimation
2.3.2 Acceleration-Based Estimation
2.3.3 Hybrid Estimation
References
3 Tracking and Interaction Control
3.1 Trajectory Tracking Control
3.1.1 Attitude Tracking Control
3.1.2 Position Tracking Control
3.1.3 Evaluation of Trajectory Tracking
3.2 Interaction Control
3.2.1 Impedance Control with Inertia Shaping
3.2.2 Compensated Impedance Control
3.2.3 Admittance Control
3.2.4 Discussion and Practical Considerations
3.2.5 Experimental Validation of Impedance Control
3.2.6 Input-to-State Stability Numerical Example
References
4 Wind Estimation
4.1 Inversion-Based Metric Wind Estimation
4.2 Wind Tunnel Experiments
4.3 Aerodynamic Model Evaluation
4.3.1 Propeller Aerodynamic Power
4.3.2 Aerodynamic Models
4.3.3 Model Performance
4.3.4 Model Generalization
4.3.5 Aerodynamic Torque Models
4.4 Physics Model Based Wind Estimation
4.4.1 Comparison to Data-Driven Estimation
4.4.2 Conclusion
4.4.3 Choosing Optimal Measurements
4.4.4 Jacobian of the Optimization Problem
References
5 Force Discrimination
5.1 Problem Statement
5.2 Collision Detection Under Wind Influence
5.3 Contact Location
5.4 Contact Detection Under Wind Influence
5.5 Probabilistic Classifier
5.6 Modified Model-Checking Force Discrimination Scheme
5.7 Interaction Force at Known Contact Position
5.8 Particle Filter-Based Force Discrimination
5.9 Power-Based Discrimination
5.10 Kalman Filter-Based Force Discrimination
5.11 Practical Challenges
5.12 Summary
References
6 Applications and Outlook
6.1 Collision Detection Applications
6.1.1 Collision Reaction and Location
6.1.2 Takeoff, Landing, and Multiple Collisions
6.1.3 Tactile Mapping
6.2 Interaction, Disturbance, and Fault Aware Flying Robot Swarms
6.2.1 Swarm System Dynamics
6.2.2 Awareness Pipeline and Interaction Control
6.2.3 Disturbance Awareness Pipeline
6.2.4 Interaction Aware Control and Sensing
6.2.5 Fault Handling Pipeline
6.2.6 Conclusions
References
7 Conclusion
References
