This paper presents a differential-flatness-based approach for generating smooth trajectories of multi-quadrotor transportation systems. Specifically, it establishes the multi-constraint dynamics of the system, wherein a rigid body payload is suspended by multiple quadrotors via cables, using the Newton-Euler method. Subsequently, the paper analyzes the system's characteristics of differential flatness and proposes a trajectory generation method based on fifth-order polynomials. Simulation results demonstrate that the proposed approach guarantees payload stability during the initiation and cessation phases of transportation.
Differential-Flatness Based Smooth Trajectory Generation for Multi-Quadrotors Transportation Systems
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
13.03.2025
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Minimum-Time Trajectory Generation for Quadrotors in Constrained Environments
BASE | 2018
|Adaptive Formation Control of Multi-Quadrotors Cooperative Transportation
IEEE | 2024
|Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors
British Library Conference Proceedings | 2012
|Robust output feedback trajectory tracking for quadrotors
SAGE Publications | 2019
|