This work tackles the problem of controlling an Unmanned Aerial Vehicle equipped with a robotic Manipulator and it has been developed within the framework of the EU-funded ARCAS (Aerial Robotics Cooperative Assembly System) project. A behavioral control, based on the Null Space-based Behavioral (NSB) paradigm, is proposed to tackle the coordination between the arm and vehicle motions. To this aim, a set of basic functionalities (called elementary behaviors) are designed and combined in a priority order to attain complex tasks (called compound behaviors). The proposed controller has been experimentally validated on a multirotor aircraft with an attached 6 Degree of Freedoms manipulator. Two experimental case studies, involving several compound behaviors, have been reported and the results show the effectiveness of the approach.


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    Title :

    Experiments on behavioral coordinated control of an Unmanned Aerial Vehicle manipulator system


    Contributors:
    Baizid, K. (author) / Giglio, G. (author) / Pierri, F. (author) / Trujillo, M. A. (author) / Antonelli, G. (author) / Caccavale, F. (author) / Viguria, A. (author) / Chiaverini, S. (author) / Ollero, A. (author)


    Publication date :

    2015-05-01


    Size :

    1497797 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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