Abstract
In recent years, multiple applications have emerged in the area of payload transport using unmanned aerial vehicles (UAVs). This has attracted considerable interest among the scientific community, especially the cases involving one or several rotary-wing UAVs. In this context, this work proposes a novel measurement system which can estimate the payload position and the force exerted by it on the UAV. This measurement system is low cost, easy to implement, and can be used either in indoor or outdoor environments (no sensorized laboratory is needed). The measurement system is validated statically and dynamically. In the first test, the estimations obtained by the system are compared with measurements produced by high-precision devices. In the second test, the system is used in real experiments to compare its performance with the ones obtained using known procedures. These experiments allowed to draw interesting conclusions on which future research can be based.
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This research was supported by National Scientific and Technical Research Council (CONICET) and the National University of San Juan (UNSJ), both from Argentina.
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Daniel Ceferino Gandolfo received the B. Eng. degree in electronic engineering from National University of San Juan (UNSJ), Argentina in 2006. He has been working as automation engineer in the industry until 2009 and received the Ph.D. degree in control systems engineering from UNSJ, Argentina in 2014. Currently, he is a researcher of Argentinean National Council for Scientific Research, and an associate professor in Institute of Automatics, UNSJ, Argentina.
His research interests include algorithms for management energy systems and optimal control strategies with application in unmanned aerial vehicles.
Claudio D. Rosales received the B. Eng. degree in electronic engineer from National University of San Juan, Argentine in 2009, and the Ph.D. degree in control systems engineering from UNSJ, Argentina in 2014, and the Ph.D. degree in electric engineering from the Federal University of Espírito Santo, Brazil, in 2018. Currently, he is an assistant researcher of the Council for Scientific and Technological Research, Argentina, and an associate professor in the Institute of Automatic, UNSJ.
His research interests included algorithms for multi-robot systems, nonlinear control, artificial intelligence, and aerial robotic.
Lucio R. Salinas received the B.Eng. degree in electronic engineering and the Ph.D. degree in control systems engineering from National University of San Juan, Argentina in 2008 and 2013, respectively. He is an associate researcher at National Scientific and Technical Research Council (CONICET) and an assistant professor at Institue of Automation, UNSJ.
His research interests include robotics, teleoperation systems, unmanned aerial vehicles, human-machine systems and software development.
J. Gimenez received the B. Sc. degree in mathematics from National University of San Juan, Argentina in 2009, and the Ph. D. degree in mathematics from National University of Córdoba (UNC), Argentina in 2014. Currently, he is an assistant researcher of the Argentinean National Council for Scientific Research, and an adjunct professor in Institute of Automatics, Argentina.
His research interests include probabilistic and statistical implementations of robotics, such as SLAM algorithms.
Ricardo Carelli received E. Eng. degree in engineering from the National University of San Juan, Argentina in 1976, and received the Ph. D. degree in electrical engineering from National University of Mexico (UNAM), Mexico in 1989. He is a professor at National University of San Juan, Argentina and a senior researcher by contract with National Council for Scientific and Technical Research, Argentina. He has been the Director of the Institute of Automation, National University of San Juan, Argentina from 2008 to 2019. He has published more than a hundred scientific articles en indexed journals on control and robotics.
His research interests include robotics, manufacturing systems, adaptive control and artificial intelligence applied to automatic control.
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Gandolfo, D.C., Rosales, C.D., Salinas, L.R. et al. Low-cost Position and Force Measurement System for Payload Transport Using UAVs. Int. J. Autom. Comput. 18, 594–604 (2021). https://doi.org/10.1007/s11633-021-1281-4
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DOI: https://doi.org/10.1007/s11633-021-1281-4