论文标题
通过两个惯性感应
Towards Cooperative Transport of a Suspended Payload via Two Aerial Robots with Inertial Sensing
论文作者
论文摘要
本文解决了两个空中机器人悬挂的点质量合作运输的问题。追随者将机器人视为领导者和追随者，因此仅使用其惯性测量单元（IMU）的反馈来稳定系统。这是通过忽略领导者的加速度，通过广义坐标或电缆角度分析系统的加速度，并采用基于IMU测量值的观察模型来完成的。基于扩展的Kalman滤波器（EKF）和控制器的轻量级估计器被得出以稳定机器人 - 付款量启动 - 机器人系统。通过广泛的飞行实验对所提出的方法进行验证，首先是一个机器人，然后是两个机器人。结果表明，追随者只能使用其IMU测量值来实现所需的准静态轨迹。结果表明，通过具有最小的感应和计算要求的小型飞行机器人自主合作运输的目标，以实现自主合作运输的目标。
This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from its Inertial Measurement Units (IMU). This is accomplished by neglecting the acceleration of the leader, analyzing the system through the generalized coordinates or the cables' angles, and employing an observation model based on the IMU measurements. A lightweight estimator based on an Extended Kalman Filter (EKF) and a controller are derived to stabilize the robot-payload-robot system. The proposed methods are verified with extensive flight experiments, first with a single robot and then with two robots. The results show that the follower is capable of realizing the desired quasi-static trajectory using only its IMU measurements. The outcomes demonstrate promising progress towards the goal of autonomous cooperative transport of a suspended payload via small flying robots with minimal sensing and computational requirements.
