Feasibility of Motion Primitives for Choreographed Quadrocopter - PowerPoint PPT Presentation

Feasibility of Motion Primitives for Choreographed Quadrocopter Flight Angela Schoellig, Markus Hehn, Sergei Lupashin and Raffaello D‘Andrea Institute for Dynamic Systems and Control ETH Zürich, Switzerland American Control Conference 2011 1 San Francisco – Jul 1, 2011

LET‘S DANCE Angela Schoellig ‐ ETH Zurich 2

... DANCE IN THE AIR VISION Dance performance of multiple aerial robots Angela Schoellig ‐ ETH Zurich 3

ACTORS STAGE Type: Quadrocopter Name: Flying Machine Arena Size: Ø 3 feet Size: 33 x 33 x 33 feet Weight: 1 pound Protection: Nets, Padded floor Flight time: 15 minutes Angela Schoellig ‐ ETH Zurich 4

TESTBED • cameras provide position and attitude • off ‐ board computer run controller • communication via radio module Autonomous flight. Angela Schoellig ‐ ETH Zurich 5

VIDEO: https://youtu.be/DrHlgxf0oQw?list=PLD6AAACCBFFE64AC5 Angela Schoellig ‐ ETH Zurich 6

OBJECTIVE & FOCUS GOAL An intuitive interface for creating meaningful and feasible quadrocopter choreography. … use controls and system dynamics. MOTION DESIGN FEASIBILITY CONTROL SYNCHRONIZATION [Schoellig, Augugliaro and D'Andrea, Parameterized Based on ICRA 2010 & IROS 2010] motion primitives. model. PREPROGRAMMED. DONE AHEAD OF TIME. FOCUS Angela Schoellig ‐ ETH Zurich 7

MOTION DESIGN – idea CHOREOGRAPHY – concatenation of basic motion elements MOTION PRIMITIVE A MOTION PRIMITIVE B MOTION PRIMITIVE D Specify motion through position and yaw (4DOF): Introduce parametrized motion primitives: DESIGN PARADIGM. space – time – energy – structure Angela Schoellig ‐ ETH Zurich 8

MOTION DESIGN – example Periodic motion primitive. includes side ‐ to ‐ side motions • circles • spirals • .... • DESIGN PARADIGM. space – time – energy – structure Angela Schoellig ‐ ETH Zurich 9

MOTION DESIGN – example Periodic motion primitive. includes side ‐ to ‐ side motions • circles • spirals • .... • DESIGN PARADIGM. space – time – energy – structure Angela Schoellig ‐ ETH Zurich 10

MOTION FEASIBILITY – model/constraints First principles model. INPUTS send to vehicle Constraints. (1) Collective thrust (input) (2) Single motor thrust Angela Schoellig ‐ ETH Zurich 11

MOTION FEASIBILITY – check MOTION DESIGN CHECK 1: Collective thrust limits. COLLECTIVE THRUST LIMIT ? CHECK 2: Single motor thrust limits. (1) Desired attitude MOTION DESIGN (2) Rotational rates VEHICLE DYNAMICS (3) Single motor thrusts COLLECTIVE THRUST LIMIT ? 12

MOTION FEASIBILITY – example Side ‐ to ‐ side motion. Feasibility. EXPERIMENTAL RESULTS: motor commands saturated 1% of the time. Violates collective thrust limit (CHECK 1) Violates single motor thrust limit (CHECK 2) Angela Schoellig ‐ ETH Zurich 13

CURRENT STATUS Work with Federico Augugliaro Angela Schoellig ‐ ETH Zurich 14

SUMMARY MOTION DESIGN FEASIBILITY CONTROL SYNCHRONIZATION Parameterized Based on motion primitives. model. choreographies based on motion primitives that are adjustable in their • parameters check feasibility ahead of time based on first principles models • ... One step towards creating choreography in a simple and intuitive way. Angela Schoellig ‐ ETH Zurich 15

LET‘S DANCE video https://youtu.be/7r281vgfotg?list=PLD6AAACCBFFE64AC5 Angela Schoellig ‐ ETH Zurich 16

Feasiblity of Motion Primitives for Choreographed Quadrocopter Flight Angela Schoellig, Markus Hehn, Sergei Lupashin and Raffaello D‘Andrea Institute for Dynamic Systems and Control ETH Zürich, Switzerland American Control Conference 2011 17 San Francisco – Jul 1, 2011