Abstract
This paper presents the implementation of a 3D virtual simulator that allows the analysis of the performance of different autonomous and tele-operated control strategies through the execution of service tasks by an aerial manipulator robot. The simulation environment is development through the digitalization of a real environment by means of 3D mapping with Drones that serves as a scenario to execute the tasks with a robot designed in CAD software. For robot-environment interaction, the Unity 3D graphics engine is used, which exchanges information with MATLAB to close the control loop and allow for feedback to compensate for the error. Finally, the results of the simulation, which validate the proposed control strategies, are presented and discussed.
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Acknowledgements
The authors would like to thanks to the Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia–CEDIA for the financing given to research, development, and innovation, through the CEPRA projects, especially the project CEPRA-XI-2017-06; Control Coordinado Multi-operador aplicado a un robot Manipulador Aéreo; also to Universidad de las Fuerzas Armadas ESPE, Universidad Técnica de Ambato, Escuela Superior Politécnica de Chimborazo, and Universidad Nacional de Chimborazo, and Grupo de Investigación en Automatización, Robótica y Sistemas Inteligentes, GI-ARSI, for the support to develop this work.
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Carvajal, C.P., Méndez, M.G., Torres, D.C., Terán, C., Arteaga, O.B., Andaluz, V.H. (2018). Autonomous and Tele-Operated Navigation of Aerial Manipulator Robots in Digitalized Virtual Environments. In: De Paolis, L., Bourdot, P. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2018. Lecture Notes in Computer Science(), vol 10851. Springer, Cham. https://doi.org/10.1007/978-3-319-95282-6_36
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DOI: https://doi.org/10.1007/978-3-319-95282-6_36
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