TY - GEN
T1 - Autonomous swing-angle estimation for stable slung-load flight of multi-rotor UAVs
AU - Lee, Seung Jae
AU - Kim, H. Jin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - This paper presents a practical swing-angle estimation method for slung load operations of the multi-rotor unmanned aerial vehicle (UAV), which is essential to maintain the safety during the operation. In order not to rely on extra sensors for monitoring the swing angle, the proposed method in this paper offers an autonomous swing-angle estimation using only an inertial measurement unit (IMU) and a single load cell attached to the slung load. The disturbance observer (DOB) derived external force estimation is performed to estimate the swing angle. The unique structure of the proposed DOB-based disturbance force estimation technique utilizes the IMU data only. Both simulation and actual experiment are performed to validate the feasibility of the proposed algorithm.
AB - This paper presents a practical swing-angle estimation method for slung load operations of the multi-rotor unmanned aerial vehicle (UAV), which is essential to maintain the safety during the operation. In order not to rely on extra sensors for monitoring the swing angle, the proposed method in this paper offers an autonomous swing-angle estimation using only an inertial measurement unit (IMU) and a single load cell attached to the slung load. The disturbance observer (DOB) derived external force estimation is performed to estimate the swing angle. The unique structure of the proposed DOB-based disturbance force estimation technique utilizes the IMU data only. Both simulation and actual experiment are performed to validate the feasibility of the proposed algorithm.
UR - http://www.scopus.com/inward/record.url?scp=85028017886&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2017.7989532
DO - 10.1109/ICRA.2017.7989532
M3 - Conference contribution
AN - SCOPUS:85028017886
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4576
EP - 4581
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -