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Contact-Prioritized Planning of Impact-Resilient Aerial Robots With an Integrated Compliant Arm
- Source :
- IEEE/ASME Transactions on Mechatronics; August 2023, Vol. 28 Issue: 4 p2064-2072, 9p
- Publication Year :
- 2023
-
Abstract
- This article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force estimator and a nonlinear motion controller to handle collisions while performing aggressive maneuvers and stabilize from high-speed wall collisions. Further, a new collision-inclusive planning method that aims to prioritize contacts to facilitate aerial robot navigation in cluttered environments is proposed. A range of simulated and physical experiments demonstrate key benefits of the robot and the contact-prioritized (CP) planner. Experimental results show that the compliant robot has only a 4% weight increase but around 40% impact reduction in drop tests and wall collision tests. s-ARQ can handle collisions while performing aggressive maneuvers and stabilize from high-speed wall collisions at 3.0 m/s with a success rate of 100%. Our proposed compliant robot and CP planning method can accelerate computation time while having shorter trajectory time and larger clearances compared to A<inline-formula><tex-math notation="LaTeX">$^\ast$</tex-math></inline-formula> and RRT<inline-formula><tex-math notation="LaTeX">$^\ast$</tex-math></inline-formula> planners with velocity constraints. Online planning tests in partially known environments further demonstrate the preliminary feasibility of our method to apply in practical use cases.
Details
- Language :
- English
- ISSN :
- 10834435
- Volume :
- 28
- Issue :
- 4
- Database :
- Supplemental Index
- Journal :
- IEEE/ASME Transactions on Mechatronics
- Publication Type :
- Periodical
- Accession number :
- ejs63772402
- Full Text :
- https://doi.org/10.1109/TMECH.2023.3277811