This paper considers the problem of carrying a payload hanging through flexible cables from rotorcraft unmanned aerial vehicles (RUAVs), taking into account obstacle avoidance, even distribution of payload weight between the aircrafts, and formation shape. The simultaneous fulfillment of these objectives, prioritizing obstacle avoidance, is achieved by using a null-space-based control. In this approach the payload must follow a predetermined path to avoid possible oscillations. In addition, an accurate 6-DoF nonlinear dynamic model of a mini-helicopter and dynamic models for the cables and payload are included to consider a realistic scenario. Finally, simulation results show the good performance of the proposed approach.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Null-space-based path-following control for cooperative payload transport using multiple rotorcraft UAVs


    Beteiligte:


    Erscheinungsdatum :

    01.06.2018


    Format / Umfang :

    5621732 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Cooperative Transport of a Payload With Offset CG Using Multiple UAVs

    Barawkar, Shraddha / Kumar, Manish | British Library Conference Proceedings | 2019


    Genetic Fuzzy Methodology for Decentralized Cooperative UAVs to Transport a Shared Payload

    Anoop Sathyan / Ou Ma / Kelly Cohen | DOAJ | 2023

    Freier Zugriff


    Vision-based Cooperative Moving Path Following for Fixed-Wing UAVs

    Felix, Miguel / Oliveira, Tiago / Cruz, Goncalo et al. | IEEE | 2023


    HDP-TSRRT*: A Time–Space Cooperative Path Planning Algorithm for Multiple UAVs

    Yicong Guo / Xiaoxiong Liu / Wei Jiang et al. | DOAJ | 2023

    Freier Zugriff