Load Estimation and Optimal Energy Efficiency Configuration Determination of an Aerial Cable Towed Robot: A Preliminary Study
- Resource Type
- Conference
- Authors
- Xiong, Hao; Huang, Junchang; Zeng, Weifeng; Cao, Huanhui; Lu, Wenjie
- Source
- 2022 International Conference on Machine Learning, Control, and Robotics (MLCR) MLCR Machine Learning, Control, and Robotics (MLCR), 2022 International Conference on. :143-147 Oct, 2022
- Subject
- Computing and Processing
Power demand
Estimation
Rotors
Machine learning
Autonomous aerial vehicles
Energy efficiency
Trajectory
aerial cable towed robot
cable-driven parallel robot
configuration determination
power consumption
- Language
Aerial Cable Towed Robots (ACTRs) are suitable for aerial work platforms for aerial manipulation. However, the low energy efficiency of the Unmanned Aerial Vehicles (UAVs) of ACTRs limits the flight time of the ACTRs. To this end, this paper develops a load estimation and configuration determination approach for ACTRs to reduce the total power consumption or the maximum power consumption of UAVs. Experiments of an ACTR with two UAVs are conducted to evaluate the proposed load estimation and configuration determination approach.