General Objective: Develop a collaborative control scheme that allows multiple aerial manipulator robots to be optimally maneuvered, in order to carry out autonomous and tele-operated tasks that require both navigation and manipulation capacity.
Specific objectives
- Implement the electronics and mechanics necessary for the construction of aerial manipulator robots made up of two robotic arms on a rotary-wing type unmanned aerial vehicle, and incorporate intrinsic and extrinsic sensors for monitoring and implementation of advanced control algorithms.
- Determine a mathematical model that represents the kinematic and dynamic characteristics of the aerial manipulator robot, in order to establish the particularities and difficulties of its control.
- Propose an advanced collaborative control scheme that allows the execution of autonomous or tele-operated tasks that require both navigation and manipulation capacity. The proposed control scheme must consider the optimization of different control criteria, eg, energy saving, task execution time, optimal configuration of robot formation, singularity point avoidance, among others.
- Mathematically demonstrate the stability and robustness of the control schemes proposed in the case study, considering external disturbances that may occur, for example, wind speed and direction, oscillation of the load to be transported, among others.
- Develop a multi-user simulator that allows the implementation of different advanced autonomous and tele-operated control algorithms, in order to analyze navigation and handling behavior in the face of weather disturbances extracted from a Meteorological Application Programming Interface.
- Implement a wireless communication network between the robotic systems for the execution of remote tasks of multiple air handlers through equipment with characteristics of reliability, robustness and scalability.
- Implement a cybersecurity management system on a high availability cloud computing infrastructure, for the management of information in real time to be sent from the ground station to the aerial manipulator robot, according to the requirements of the task to be executed and the scheme of control implemented.
- Carry out experimental evaluations in partially structured real environments of the performance of the proposed control scheme in applications that need both navigation and manipulation capabilities.
Participating Institutions:
ESPE, ESPOCH, UNACH, UTI, UIDE, Central University of Venezuela.
Participants:
Project Director Jorge Sánchez, MSc. In Mathematics Teaching – ESPE.
- Frame Flowers
- Hector Teran
- Hugo Moreno
- Jose Morales
- Giovanny Cuzco
- Carlos Penafiel
- jose varela
- Gabriela Andaluz
- Willian La Cruz
Awarded budget: $70840
Project status: Signing of agreements.
