Reactivity and Dynamic Obstacle Avoidance
This chapter presents methods for aerial manipulators that allow to react against unexpected obstacles during navigation. The local replanning method presented in more detail considers jointly the state of the aerial platform and the manipulator configura
- PDF / 1,009,126 Bytes
- 16 Pages / 439.37 x 666.142 pts Page_size
- 16 Downloads / 206 Views
Abstract This chapter presents methods for aerial manipulators that allow to react against unexpected obstacles during navigation. The local replanning method presented in more detail considers jointly the state of the aerial platform and the manipulator configuration at joint level. Moreover, the proposed planner generates trajectories that account for the dynamics, which is a crucial issue due to the strong dynamical coupling between the aerial platform and the arms. Finally, simulation and experimental results have been included for validation.
1 Introduction In order to navigate with an Unmanned Aerial Vehicle (UAV) in complex environments, like the industrial inspection and maintenance scenarios addressed in the AEROARMS1 project, an autonomous mobile robot should reach a compromise between the need for having efficient and optimized trajectories and the need for reacting to unexpected events. Motion planning is devoted to compute efficient trajectories taking into account previously existing maps as shown in chapter ‘Motion Planning’. The reactivity is also needed for the practical applications due to the difficulties to include in the map all the existing objects and to predict all the possible 1 https://aeroarms-project.eu/.
A. Caballero (B) · A. Rodriguez-Castaño · A. Ollero GRVC Robotics Lab Sevilla, Universidad de Sevilla, Seville, Spain e-mail: [email protected] A. Rodriguez-Castaño e-mail: [email protected] A. Ollero e-mail: [email protected] M. Bejar GRVC Robotics Lab Sevilla, Universidad Pablo de Olavide, Seville, Spain e-mail: [email protected] © Springer Nature Switzerland AG 2019 A. Ollero and B. Siciliano (eds.), Aerial Robotic Manipulation, Springer Tracts in Advanced Robotics 129, https://doi.org/10.1007/978-3-030-12945-3_24
333
334
A. Caballero et al.
events. Then, usually, path-planning and navigation methods work in two steps: in the first one, a global path is calculated using a previously computed map (see part ‘Perception for Aerial Robotic Manipulation’ of this book), and, in the second step, the robot reads the sensor data while moving and the local trajectory is modified in a reactive way allowing the path-adaptation mechanism to cope with unexpected obstacles or dynamic environments. The above mentioned two-level planning approach allows the application of global but computationally expensive techniques for task and motion planning in a preprocessing stage, and to dynamically adapt the trajectories in a second stage. Moreover, the use of a two-level planning strategy decreases the computational at execution time, due to the fact that the global planner is activated occasionally (after the first, off-line run) and the local planner, which is usually much faster, runs on-line. The first step is considered in the chapters ‘Combining Assembly Planning and Geometric Task Planning’ and ‘Motion Planning’. This chapter is devoted to the reactivity and dynamic obstacle avoidance, which may involve local planning. Also notice that chapter ‘Motion Planning’ deals with motion planning of the multi
Data Loading...
