Shop : Details
Shop
Details
Wei Luo
Target Trajectory Prediction-based Object Handover in a 3D Heterogeneous Robot System
This work is devoted to contributing multiple key-functionalities for cooperation within a heterogeneous robot group. Specifically, a hypothetical scenario is investigated, where an aerial manipulator should hand over an object from a moving mobile robot on the ground. In this cooperation, both robots are not centrally controlled. In contrast, the mobile robot is controlled separately, and the aerial manipulator can only observe the mobile robot's previous movements, and it must collaborate with the mobile robot in a more energy-efficient manner.
The first contribution of this thesis is to provide solutions for predicting the future trajectory of the observed mobile robot based on its previous movements. Once the likely future trajectory of the mobile robot is acquired, the next challenge is to plan a trajectory of the aerial manipulator to approach and implement the desired handover cooperation in a time-optimal manner without validating the aerial manipulator's dynamics. In the proposed DMCC framework, the system dynamics is constrained with the discrete variational Lagrangian mechanics, which yields reliable estimation results. Moreover, the handover opportunities are determined and arranged automatically based on the desired complementarity constraints. The last contribution of this thesis is dedicated to controlling the aerial manipulator based on nonlinear model predictive control combined with an augmented dynamic model employing Gaussian processes as a nonparametric regression model, which allows the proposed NMPC control framework to determine the optimal control inputs for the aerial manipulator and achieve a stable flight performance.
The first contribution of this thesis is to provide solutions for predicting the future trajectory of the observed mobile robot based on its previous movements. Once the likely future trajectory of the mobile robot is acquired, the next challenge is to plan a trajectory of the aerial manipulator to approach and implement the desired handover cooperation in a time-optimal manner without validating the aerial manipulator's dynamics. In the proposed DMCC framework, the system dynamics is constrained with the discrete variational Lagrangian mechanics, which yields reliable estimation results. Moreover, the handover opportunities are determined and arranged automatically based on the desired complementarity constraints. The last contribution of this thesis is dedicated to controlling the aerial manipulator based on nonlinear model predictive control combined with an augmented dynamic model employing Gaussian processes as a nonparametric regression model, which allows the proposed NMPC control framework to determine the optimal control inputs for the aerial manipulator and achieve a stable flight performance.
Schlagwörter: robotics; heterogeneous robot system; target trajectory prediction; discrete mechanics; model predictive control
Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart
Herausgegeben von Prof. Dr.-Ing. Peter Eberhard, Stuttgart
Band 2023,76
Verfügbare Online-Dokumente zu diesem Titel
DOI 10.2370/9783844090253
Sie benötigen den Adobe Reader, um diese Dateien ansehen zu können. Hier erhalten Sie eine kleine Hilfe und Informationen, zum Download der PDF-Dateien.
Bitte beachten Sie, dass die Online-Dokumente nicht ausdruckbar und nicht editierbar sind.
Bitte beachten Sie auch weitere Informationen unter: Hilfe und Informationen.
Bitte beachten Sie auch weitere Informationen unter: Hilfe und Informationen.
| Dokument |  | Gesamtdokument | ||
| Dateiart |  | |||
| Kosten |  | 36,60 € | ||
| Aktion |  | Zahlungspflichtig kaufen und download der Datei | ||
| Dokument |  | Inhaltsverzeichnis | ||
| Dateiart | | |||
| Kosten |  | frei | ||
| Aktion |  | Download der Datei | ||
Benutzereinstellungen für registrierte Online-Kunden (Online-Dokumente)
Sie können hier Ihre Adressdaten ändern sowie bereits georderte Dokumente erneut aufrufen.
Benutzer
Nicht angemeldet
Export bibliographischer Daten
Shaker Verlag GmbHAm Langen Graben 15a52353 Düren
Mo. - Do. 8:00 Uhr bis 16:00 UhrFr. 8:00 Uhr bis 15:00 Uhr
Kontaktieren Sie uns. Wir helfen Ihnen gerne weiter.
