Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
A robust reconfigurable control scheme against pose estimation induced time delays
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0003-0126-1897
Antal upphovsmän: 22016 (Engelska)Ingår i: 2016 IEEE Conference on Control Applications (CCA): 19-22 Sept. 2016, Piscataway, NU: IEEE Communications Society, 2016, s. 581-586, artikel-id 7587892Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Time delays are one of the most common problems when utilizing a visual sensor for pose estimation or navigation in aerial robotics. Such time delays can grow exponentially as a function of the scene's complexity and the size of the mapping during classical Simultaneous Localization and Mapping (SLAM) strategies. In this article, a robust reconfigurable control scheme against pose estimation induced time delays is presented. Initially, an experimental verification of the induced time delays via pose estimation is performed for the attitude problem of a hexacopter, while a switching time delay dependent modeling approach is formulated. In addition, a stability analysis algorithm is introduced in order to evaluate the maximum allowable time delays that the target system can handle for a given LQR controller. The varying nature of the time delays results in a switching system with the latency time to play the role of a switching rule, while simulation results are presented to outline the effects of the time-induced delays in hexarotor-based systems and finally evaluate the overall efficiency of the proposed control scheme.

Ort, förlag, år, upplaga, sidor
Piscataway, NU: IEEE Communications Society, 2016. s. 581-586, artikel-id 7587892
Serie
I E E E International Conference on Control Applications. Proceedings, ISSN 1085-1992
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-60269DOI: 10.1109/CCA.2016.7587892ISI: 000386696600080Scopus ID: 2-s2.0-84994257659ISBN: 978-1-5090-0755-4 (tryckt)ISBN: 978-1-5090-0756-1 (tryckt)OAI: oai:DiVA.org:ltu-60269DiVA, id: diva2:1045690
Konferens
IEEE Conference on Control Applications (CCA),
Projekt
Collaborative Aerial Robotic Workers, AEROWORKS
Forskningsfinansiär
EU, Horisont 2020, 644128
Anmärkning

Validerad; 2016; Nivå 1; 2016-11-25 (andbra)

Tillgänglig från: 2016-11-10 Skapad: 2016-11-10 Senast uppdaterad: 2018-05-29Bibliografiskt granskad
Ingår i avhandling
1. On Visual Perception for an Aerial Robotic Worker
Öppna denna publikation i ny flik eller fönster >>On Visual Perception for an Aerial Robotic Worker
2017 (Engelska)Licentiatavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

Micro Aerial Vehicles and especially multi rotors are gaining more and more attention for accomplishing complex tasks, considering their simple mechanical design and their versatile movement. MAVs are ideal candidates to perform tasks autonomously, to work safely in close proximity and in collaboration with humans, and to operate safely and effectively in natural human environments, like infrastructure inspection-maintenance, underground mine operations and surveillance missions. Adopting this vision, this thesis contributes in the aerial platform ecosystem that can be summarized by the term Aerial Robotic Worker (ARW). An ARW is characterized, among others, by its advanced capabilities on environmental perception and 3D reconstruction and active aerial manipulation.Using cameras for localization, mapping of an ARW as well as guidance on aerial manipulation is appealing mainly because of the small size and cost of such sensors. Nevertheless, visualinformation provided from the cameras is enormous, posing significant challenges in real-time data processing, while meeting the constraints of these platforms. Additionally, another challenge on visual perception considers the usage of multiple agents that collaboratively perceive their surroundings forming an aerial sensor. This thesis also investigates the applicability of visual SLAM algorithms in uncontrolled and cluttered environments. Furthermore, work will be presented on visual guidance for an aerial manipulator, which is challenging regarding the object detection, tracking and the platform approaching strategies. The first contribution will be the establishment of a flexible virtual stereo rig consisted of MPC controlled MAVs. The advantage of this approach is the varying baseline sensor that is composed from independently moving cameras, adjusting the depth perception accordingly. This method is able to provide the 3D reconstruction of the environment in a sparse pointcloud. The second contribution of this this thesis will examine the single agents in two different scenarios. Initially, experimental trials of commonly used visual sensors in hard and challenging environments will be presented in real scale underground ore mine to evaluate the localization and mapping performance of such technology for potential usage in UAVs. Secondly, theoretical work will be performed regarding attitude regulation of a hexacopter for stable hovering based on visual localization. In this work the time delays induced from the processing should be compensated with a switching control scheme which is able to maintain the stability of the platform. Finally, a third contribution of this thesis will be vision for aerial manipulation. The developed system includes a stereo camera that is attached on the end-effector of the aerial manipulator and is used to provide robust target detection and tracking. The visual feedback is processed to co-localize the aerial agent with the target and generate a waypoint that allows to approach the target.

Ort, förlag, år, upplaga, sidor
Luleå tekniska universitet, 2017
Serie
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
urn:nbn:se:ltu:diva-65535 (URN)978-91-7583-955-4 (ISBN)978-91-7583-956-1 (ISBN)
Presentation
2017-10-10, D2223, Luleå, 09:00 (Engelska)
Forskningsfinansiär
EU, Horisont 2020
Tillgänglig från: 2017-09-11 Skapad: 2017-09-08 Senast uppdaterad: 2017-11-24Bibliografiskt granskad

Open Access i DiVA

fulltext(3092 kB)22 nedladdningar
Filinformation
Filnamn FULLTEXT01.pdfFilstorlek 3092 kBChecksumma SHA-512
08ec8ac5684b0500987b6bf244560ad18d7c1422bbfd204933c4062c5eaa00a30f45d3b936fd4f20beb257e1d07a10725b458d93ce60768e2bfaa9be14f528d7
Typ fulltextMimetyp application/pdf

Övriga länkar

Förlagets fulltextScopus

Personposter BETA

Kanellakis, ChristoforosNikolakopoulos, George

Sök vidare i DiVA

Av författaren/redaktören
Kanellakis, ChristoforosNikolakopoulos, George
Av organisationen
Signaler och system
Reglerteknik

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 22 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

doi
isbn
urn-nbn

Altmetricpoäng

doi
isbn
urn-nbn
Totalt: 234 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf