4 research outputs found
Nonlinear Model Predictive Guidance for Fixed-wing UAVs Using Identified Control Augmented Dynamics
As off-the-shelf (OTS) autopilots become more widely available and
user-friendly and the drone market expands, safer, more efficient, and more
complex motion planning and control will become necessary for fixed-wing aerial
robotic platforms. Considering typical low-level attitude stabilization
available on OTS flight controllers, this paper first develops an approach for
modeling and identification of the control augmented dynamics for a small
fixed-wing Unmanned Aerial Vehicle (UAV). A high-level Nonlinear Model
Predictive Controller (NMPC) is subsequently formulated for simultaneous
airspeed stabilization, path following, and soft constraint handling, using the
identified model for horizon propagation. The approach is explored in several
exemplary flight experiments including path following of helix and connected
Dubins Aircraft segments in high winds as well as a motor failure scenario. The
cost function, insights on its weighting, and additional soft constraints used
throughout the experimentation are discussed
A full controller for a fixed-wing UAV
This paper presents a nonlinear control law for the stabilization of a
fixed-wing UAV. Such controller solves the path-following problem and the
longitudinal control problem in a single control. Furthermore, the control
design is performed considering aerodynamics and state information available in
the commercial autopilots with the aim of an ease implementation. It is
achieved that the closed-loop system is G.A.S. and robust to external
disturbances. The difference among the available controllers in the literature
is: 1) it depends on available states, hence it is not required extra sensors
or observers; and 2) it is possible to achieve any desired airplane state with
an ease of implementation, since its design is performed keeping in mind the
capability of implementation in any commercial autopilot
Whole-Body Control of a Mobile Manipulator using End-to-End Reinforcement Learning
Mobile manipulation is usually achieved by sequentially executing base and
manipulator movements. This simplification, however, leads to a loss in
efficiency and in some cases a reduction of workspace size. Even though
different methods have been proposed to solve Whole-Body Control (WBC) online,
they are either limited by a kinematic model or do not allow for reactive,
online obstacle avoidance. In order to overcome these drawbacks, in this work,
we propose an end-to-end Reinforcement Learning (RL) approach to WBC. We
compared our learned controller against a state-of-the-art sampling-based
method in simulation and achieved faster overall mission times. In addition, we
validated the learned policy on our mobile manipulator RoyalPanda in
challenging narrow corridor environments.Comment: 6 pages, 6 figures, 2 tables, submitted to RA-L/IRO
On Flying Backwards: Preventing Run-away of Small, Low-speed, Fixed-wing UAVs in Strong Winds
Small, low-speed fixed-wing Unmanned Aerial Vehicles (UAVs) operating
autonomously, beyond-visual-line-of-sight (BVLOS) will inevitably encounter
winds rising to levels near or exceeding the vehicles' nominal airspeed. In
this paper, we develop a nonlinear lateral-directional path following guidance
law with explicit consideration of online wind estimates. Energy efficient
airspeed reference compensation logic is developed for excess wind scenarios
(i.e. when the wind speed rises above the airspeed), enabling either
mitigation, prevention, or over-powering of excess wind induced run-away from a
given path. The developed guidance law is demonstrated on a representative
small, low-speed test UAV in two flight experiments conducted in mountainous
regions of Switzerland with strong, turbulent wind conditions, gusts reaching
up to 13 meters per second. We demonstrate track-keeping errors of less than 1
meter consistently maintained during a representative duration of gusting,
excess winds and a mean ground speed undershoot of 0.5 meters per second from
the commanded minimum forward ground speed demonstrated in over 5 minutes of
the showcased flight results.Comment: Preprint of a paper presented at the IEEE International Conference on
Intelligent Robots and Systems (IROS) 201