Collaborative Guidance of UAV-Transported Semi-Flexible Payloads in Environments with Obstacles

Hegde, A and Ghose, D (2021) Collaborative Guidance of UAV-Transported Semi-Flexible Payloads in Environments with Obstacles. In: 60th IEEE Conference on Decision and Control, CDC 2021, 13 - 17 December 2021, Austin, pp. 490-495.

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Abstract

Collaborative load manipulation and transportation is an emerging application of multi-unmanned aerial vehicle (UAV) systems. We address a problem where a team of UAVs transport a semi-flexible payload in an environment with multiple obstacles. By considering a semi-flexible payload, we restrict its flexibility to allow for safe-shape manipulation, which helps to navigate between obstacles while avoiding inter-UAV and payload-obstacle collisions. Control barrier functions (CBFs) are used to construct the obstacle avoidance and shape constraints, which are applied along with actuator constraints to an optimization-based control problem. The analysis is supported with simulation results for a team of four UAVs manipulating a payload in the presence of obstacles and settling on a standoff circle about a target. © 2021 IEEE.

Item Type:	Conference Paper
Publication:	Proceedings of the IEEE Conference on Decision and Control
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Antennas, Barriers functions; Collaborative guidances; Control barriers; Emerging applications; Flexible payloads; Obstacle collision; Obstacle shapes; Obstacles avoidance; Shape manipulation; Unmanned aerial vehicle systems, Unmanned aerial vehicles (UAV)
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	08 Mar 2023 13:04
Last Modified:	08 Mar 2023 13:04
URI:	https://eprints.iisc.ac.in/id/eprint/80876

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