A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems

被引：96

作者：

Ding, Xilun ^{[1
]}

Guo, Pin ^{[1
]}

Xu, Kun ^{[1
]}

Yu, Yushu ^{[2
]}

机构：

[1] Beihang Univ, Robot Inst, Beijing 100083, Peoples R China

[2] Chalmers Univ Technol, Dept Mech & Maritime Sci, S-41296 Gothenburg, Sweden

来源：

CHINESE JOURNAL OF AERONAUTICS | 2019年 / 32卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Aerial manipulation; Mechanical structure design; Modeling and control; Research groups; Small-scale rotorcraft unmanned aerial systems; Trends and challenges; GEOMETRIC CONTROL; TRAJECTORY GENERATION; PHYSICAL-INTERACTION; PREDICTIVE CONTROL; INTERNAL DYNAMICS; QUADROTOR; TRANSPORTATION; CONTACT; PAYLOAD; GRASP;

D O I：

10.1016/j.cja.2018.05.012

中图分类号：

V [航空、航天];

学科分类号：

082501 [飞行器设计];

摘要：

Small-scale rotorcraft unmanned robotic systems (SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years (2008-2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem, trends, and challenges are described from three aspects. Conclusions of the paper are presented, and the future of SRURSs is discussed to enable further research interests. (C) 2018 Chinese Society of Aeronautics and Astronautics. Production and hosting by Elsevier Ltd.

引用

页码：200 / 214

页数：15

共 132 条

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