Percorrer por autor "Pimentel, Gabriel Oliveira"
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- An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and ControlPublication . Pimentel, Gabriel Oliveira; Santos, Murillo F. dos; Lima, José; Mercorelli, Paolo; Fernandes, Fernanda MaraThis paper focuses on the modeling, control, and simulation of an over-actuated hexacopter tilt-rotor (HTR). This configuration implies that two of the six actuators are independently tilted using servomotors, which provide high maneuverability and reliability. This approach is predicted to maintain zero pitch throughout the trajectory and is expected to improve the aircraft’s steering accuracy. This arrangement is particularly beneficial for precision agriculture (PA) applications where accurate monitoring and management of crops are critical. The enhanced maneuverability allows for precise navigation in complex vineyard environments, enabling the unmanned aerial vehicle (UAV) to perform tasks such as aerial imaging and crop health monitoring. The employed control architecture consists of cascaded proportional (P)-proportional, integral and derivative (PID) controllers using the successive loop closure (SLC) method on the five controlled degrees of freedom (DoFs). Simulated results using Gazebo demonstrate that the HTR achieves stability and maneuverability throughout the flight path, significantly improving precision agriculture practices. Furthermore, a comparison of the HTR with a traditional hexacopter validates the proposed approach.
- Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision AgriculturePublication . Libório, Leandro Oliveira; Pimentel, Gabriel Oliveira; Santos, Murillo Ferreira dos; Fernandes, Fernanda Mara; Lima, José; Morais, Maurício Herche Fófano de; Mercorelli, Paolo; Pereira, Ana I.This work presents the control allocation and tuning methodology for an over-actuated Hexacopter Tilt-Rotor (HTR) designed for precision agriculture applications. The HTR's innovative design includes two independently tiltable rotors, enhancing stability and forward velocity, making it suitable for low-altitude maneuvers in agricultural environments. The study focuses on the implementation of a cascade Proportional (P)-Proportional, Integral and Derivative (PID) control structure with Successive Loop Closure (SLC) and the application of an extended Fast Control Allocation (FCA) method to optimize actuator performance. The control gains were meticulously tuned to ensure stability and robustness across six degrees of freedom, achieving precise trajectory tracking and efficient resource use. Validation was conducted through simulations using Robot Operating System (ROS) and Gazebo, replicating realistic precision agriculture scenarios. Results demonstrate the efficacy of the proposed control strategies, highlighting their potential for real-world applications in crop monitoring, pest detection, and resource optimization. Future work includes physical implementation and integration with collaborative robotics.
- Modeling and control of unmanned aerial vehicle for autonomous navigation in virtual environments for agriculture of precisionPublication . Pimentel, Gabriel Oliveira; Lima, José; Santos, Murillo Ferreira dosThis works focuses on the modeling, control, and simulation of a over-actuated Un- manned Aerial Vehicle (UAV) prototype. This vehicle is a Hexacopter Tilt-Rotor (HTR) that 2 of the 6 actuators are independently tilted using servomotors, providing high ma- neuverability and reliability. This approach is predicted to maintain zero pitch throughout the trajectory and is expected to improve the aircraft’s steering accuracy. This arrangement is particularly beneficial for Precision Agriculture (PA) applications where accurate monitoring and management of crops are critical. The enhanced maneuverability allows for precise navigation in complex vineyard environments, enabling the UAV to perform tasks such aerial imaging and crop health monitoring. The employed control topology consists of cascaded Proportional (P)-Proportional-Integral-Derivative (PID) controllers using the Successive Loop Closure (SLC) method on the five controlled Degrees of Free- doms (DoFs). Regarding the control allocation method, it is developed is an extension of Fast Control Allocation (FCA) technique. To validate this proposed approach, simulated results using Gazebo software and Robot Operating System (ROS) demonstrate that the aircraft achieves stability and maneuverability throughout different scenarios, achieving a maximum pitch of ±1.5◦, significantly improving PA practices. Furthermore, a comparison of the HTR with a traditional hexacopter validates the proposed approach.