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带爪无人机自主控制技术新进展

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带爪无人机因同时具备作业机构的高精度操作能力和无人机的灵活机动性而被广泛关注.随着带爪无人机应用需求的增加和能力边界的拓展,国内外学者对其关键技术的研究日趋深入.本文对带爪无人机的作业机构构型、建模和控制方面的代表性研究进展进行了讨论分析,并分别从作业机构和无人机平台角度阐述了其演变历程,将带爪无人机的建模方法分为整体建模法和独立建模法,在自主控制方面归纳了目前所研究的经典控制及机器学习方法,并分析了其优缺点.讨论了带爪无人机自主控制的技术难点和痛点,并对其未来发展方向进行了展望.
New progresses in autonomous control technology for UAV with manipulator
Unmanned aerial vehicle(UAV)with manipulator has garnered significant attention due to its exceptional precision and maneuverability.With the increasing application demand and the expansion of capability boundary of UAV with manipulator,researchers worldwide have been conducting in-depth studies on its key technologies.This paper analyzes the latest representative progress in the configuration,modeling and control of UAV with manipulator and introduces its evolution process about the manipulator and the UAV platform,respectively.Then,the modeling approaches of UAV with manipulator are divided into the centralized approach and the decentralized approach.The classical control and machine learning methods studied at present are summarized in terms of autonomous control and evaluated for their respective advantages and disadvantages.Finally,the technical difficulties and pain points in the autonomous control technology for UAV with manipulator are concluded and the future research direction is prospected.

Unmanned aerial vehicle(UAV)with manipulatormanipulator configurationUAV platformdynamic modelingflight control

段海滨、王壮壮、霍梦真、孙永斌

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北京航空航天大学自动化科学与电气工程学院,飞行器控制一体化技术重点实验室仿生自主飞行系统研究组,北京 100083

带爪无人机 作业机构 无人机平台 动力学建模 自主控制

科技创新2030-"新一代人工智能"重大项目国家自然科学基金项目国家自然科学基金项目国家自然科学基金项目国家自然科学基金项目

2018AAA0100803T212100362350048U20B2071U1913602

2024

10.1360/SST-2023-0213

中国科学(技术科学)
中国科学院

中国科学(技术科学)

CSTPCD北大核心
影响因子：0.752
ISSN：1674-7259
年,卷(期)：2024.54(8)
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