1,877 research outputs found
Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs
Omnidirectional MAVs are a growing field, with demonstrated advantages for
aerial interaction and uninhibited observation. While systems with complete
pose omnidirectionality and high hover efficiency have been developed
independently, a robust system that combines the two has not been demonstrated
to date. This paper presents VoliroX: a novel omnidirectional vehicle that can
exert a wrench in any orientation while maintaining efficient flight
configurations. The system design is presented, and a 6 DOF geometric control
that is robust to singularities. Flight experiments further demonstrate and
verify its capabilities.Comment: 10 pages, 6 figures, ISER 2018 conference submissio
On Time-optimal Trajectories for a Car-like Robot with One Trailer
In addition to the theoretical value of challenging optimal control problmes,
recent progress in autonomous vehicles mandates further research in optimal
motion planning for wheeled vehicles. Since current numerical optimal control
techniques suffer from either the curse of dimens ionality, e.g. the
Hamilton-Jacobi-Bellman equation, or the curse of complexity, e.g.
pseudospectral optimal control and max-plus methods, analytical
characterization of geodesics for wheeled vehicles becomes important not only
from a theoretical point of view but also from a prac tical one. Such an
analytical characterization provides a fast motion planning algorithm that can
be used in robust feedback loops. In this work, we use the Pontryagin Maximum
Principle to characterize extremal trajectories, i.e. candidate geodesics, for
a car-like robot with one trailer. We use time as the distance function. In
spite of partial progress, this problem has remained open in the past two
decades. Besides straight motion and turn with maximum allowed curvature, we
identify planar elastica as the third piece of motion that occurs along our
extr emals. We give a detailed characterization of such curves, a special case
of which, called \emph{merging curve}, connects maximum curvature turns to
straight line segments. The structure of extremals in our case is revealed
through analytical integration of the system and adjoint equations
A Real-Time Solver For Time-Optimal Control Of Omnidirectional Robots with Bounded Acceleration
We are interested in the problem of time-optimal control of omnidirectional
robots with bounded acceleration (TOC-ORBA). While there exist approximate
solutions for such robots, and exact solutions with unbounded acceleration,
exact solvers to the TOC-ORBA problem have remained elusive until now. In this
paper, we present a real-time solver for true time-optimal control of
omnidirectional robots with bounded acceleration. We first derive the general
parameterized form of the solution to the TOC-ORBA problem by application of
Pontryagin's maximum principle. We then frame the boundary value problem of
TOC-ORBA as an optimization problem over the parametrized control space. To
overcome local minima and poor initial guesses to the optimization problem, we
introduce a two-stage optimal control solver (TSOCS): The first stage computes
an upper bound to the total time for the TOC-ORBA problem and holds the time
constant while optimizing the parameters of the trajectory to approach the
boundary value conditions. The second stage uses the parameters found by the
first stage, and relaxes the constraint on the total time to solve for the
parameters of the complete TOC-ORBA problem. We further implement TSOCS as a
closed loop controller to overcome actuation errors on real robots in
real-time. We empirically demonstrate the effectiveness of TSOCS in simulation
and on real robots, showing that 1) it runs in real time, generating solutions
in less than 0.5ms on average; 2) it generates faster trajectories compared to
an approximate solver; and 3) it is able to solve TOC-ORBA problems with
non-zero final velocities that were previously unsolvable in real-time
Spatio-Temporal Calibration for Omni-Directional Vehicle-Mounted
We present a solution to the problem of spatio-temporal calibration for event
cameras mounted on an onmi-directional vehicle. Different from traditional
methods that typically determine the camera's pose with respect to the
vehicle's body frame using alignment of trajectories, our approach leverages
the kinematic correlation of two sets of linear velocity estimates from event
data and wheel odometers, respectively. The overall calibration task consists
of estimating the underlying temporal offset between the two heterogeneous
sensors, and furthermore, recovering the extrinsic rotation that defines the
linear relationship between the two sets of velocity estimates. The first
sub-problem is formulated as an optimization one, which looks for the optimal
temporal offset that maximizes a correlation measurement invariant to arbitrary
linear transformation. Once the temporal offset is compensated, the extrinsic
rotation can be worked out with an iterative closed-form solver that
incrementally registers associated linear velocity estimates. The proposed
algorithm is proved effective on both synthetic data and real data,
outperforming traditional methods based on alignment of trajectories
Search-based Motion Planning for Aggressive Flight in SE(3)
Quadrotors with large thrust-to-weight ratios are able to track aggressive
trajectories with sharp turns and high accelerations. In this work, we develop
a search-based trajectory planning approach that exploits the quadrotor
maneuverability to generate sequences of motion primitives in cluttered
environments. We model the quadrotor body as an ellipsoid and compute its
flight attitude along trajectories in order to check for collisions against
obstacles. The ellipsoid model allows the quadrotor to pass through gaps that
are smaller than its diameter with non-zero pitch or roll angles. Without any
prior information about the location of gaps and associated attitude
constraints, our algorithm is able to find a safe and optimal trajectory that
guides the robot to its goal as fast as possible. To accelerate planning, we
first perform a lower dimensional search and use it as a heuristic to guide the
generation of a final dynamically feasible trajectory. We analyze critical
discretization parameters of motion primitive planning and demonstrate the
feasibility of the generated trajectories in various simulations and real-world
experiments.Comment: 8 pages, submitted to RAL and ICRA 201
Design, Modeling, and Geometric Control on SE(3) of a Fully-Actuated Hexarotor for Aerial Interaction
In this work we present the optimization-based design and control of a
fully-actuated omnidirectional hexarotor. The tilt angles of the propellers are
designed by maximizing the control wrench applied by the propellers. This
maximizes (a) the agility of the UAV, (b) the maximum payload the UAV can hover
with at any orientation, and (c) the interaction wrench that the UAV can apply
to the environment in physical contact. It is shown that only axial tilting of
the propellers with respect to the UAV's body yields optimal results. Unlike
the conventional hexarotor, the proposed hexarotor can generate at least 1.9
times the maximum thrust of one rotor in any direction, in addition to the
higher control torque around the vehicle's upward axis. A geometric controller
on SE(3) is proposed for the trajectory tracking problem for the class of fully
actuated UAVs. The proposed controller avoids singularities and complexities
that arise when using local parametrizations, in addition to being invariant to
a change of inertial coordinate frame. The performance of the controller is
validated in simulation.Comment: 9 pages, 9 figures, ICRA201
A Decomposition Approach to Multi-Vehicle Cooperative Control
We present methods that generate cooperative strategies for multi-vehicle
control problems using a decomposition approach. By introducing a set of tasks
to be completed by the team of vehicles and a task execution method for each
vehicle, we decomposed the problem into a combinatorial component and a
continuous component. The continuous component of the problem is captured by
task execution, and the combinatorial component is captured by task assignment.
In this paper, we present a solver for task assignment that generates
near-optimal assignments quickly and can be used in real-time applications. To
motivate our methods, we apply them to an adversarial game between two teams of
vehicles. One team is governed by simple rules and the other by our algorithms.
In our study of this game we found phase transitions, showing that the task
assignment problem is most difficult to solve when the capabilities of the
adversaries are comparable. Finally, we implement our algorithms in a
multi-level architecture with a variable replanning rate at each level to
provide feedback on a dynamically changing and uncertain environment.Comment: 36 pages, 19 figures, for associated web page see
http://control.mae.cornell.edu/earl/decom
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