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.


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    Titel :

    Differential-Flatness Based Smooth Trajectory Generation for Multi-Quadrotors Transportation Systems


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Deng, Yimin (Herausgeber:in) / Ping, Yuan (Autor:in) / Qi, Juntong (Autor:in) / Wang, Mingming (Autor:in) / Wu, Chong (Autor:in)

    Kongress:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Erscheinungsdatum :

    13.03.2025


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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