自动抓取系统和混合控制器向多个无人机的包裹交付
Bruno J Guerreiro1,2, Francisco Azevedo2, Paulo Oliveira2,3
1DEEC/CTS/LASI, NOVA School of Science and Technology, Universidade NOVA de Lisboa, 2829-516 Caparica, Portugal.
Sensors (Basel, Switzerland)
|January 28, 2026
概括
这项研究引入了无人机交付的自主抓取机制,使飞行中的包裹转移成为可能. 该系统使用3D打印的抓柄和混合模型预测控制 (MPC) 进行精确的包装处理.
科学领域:
- 机器人和自动化机器人与自动化
- 航空航天工程 航空航天工程
- 控制系统 控制系统
背景情况:
- 基于无人机的包裹配送在自动化包裹处理和转移方面面临着挑战.
- 在飞行中的包裹传输需要精确控制无人机和抓取机制.
- 现有的系统往往缺乏整合机械设计,控制和自主抓取的感知.
研究的目的:
- 开发和验证基于无人机的包裹交付的自主抓取机制.
- 为了使无人驾驶飞行器能够实现飞行中的包裹传输能力.
- 整合一种新的混合模型预测控制 (MPC) 架构,用于协调无人机和抓手操作.
主要方法:
- 开发了一种3D打印的机械抓手,配有集成的传感器.
- 实施一个地块立场估计方法,以准确地抓住.
- 构建一个混合动力模型,将抓机械和简化的无人机动力学结合起来.
- 设计一个混合模型预测控制 (MPC) 框架用于轨迹规划.
主要成果:
- 成功开发了一个功能性3D打印自主抓取原型.
- 验证混合MPC方法在模拟中协调抓手和无人机运动.
- 展示系统处理不同操作阶段的能力:采集,运输和释放.
- 抓手原型和姿势估计系统的实验验证.
结论:
- 开发的自主抓取机制是基于无人机的包裹配送的可行解决方案.
- 混合MPC架构有效地管理复杂的飞行中的包裹传输操作.
- 这项研究提升了配送无人机的自动化能力,为高效的空中物流铺平了道路.
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