Due to the limited payload capability of an aerial robot, multiple quadrotors can be used to manipulate payloads in aerial transportation, construction, and assembly tasks. This paper focuses on the cooperative transportation of a payload rigidly attached to multiple quadrotor bodies. These quadrotors may have different orientations. The dynamics equation of a rigid body in 3-D space is derived to describe the motion of such a transportation system. Robust position and attitude controllers are designed to drive the system to the desired pose. To assign control signals for each quadrotor, the control command allocation method compatible with the case that partial or all quadrotors are in parallel planes is developed. Finally, experimental results are presented to validate the effectiveness of the proposed controllers and control command allocation methods. Different from classical works in this field, this paper can solve the dynamics modeling, controller design, and control command allocation problems for the transportation of a rigidly connected payload using a team of quadrotors with different orientations.


    Access

    Download


    Export, share and cite



    Title :

    Transportation of Payload Using Multiple Quadrotors via Rigid Connection


    Contributors:
    Ti Chen (author) / Jinjun Shan (author) / Hugh H. T. Liu (author)


    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Rod-shaped payload transportation using multiple quadrotors

    Villa, Daniel Khede Dourado / Brandao, Alexandre Santos / Sarcinelli-Filho, Mario | IEEE | 2019



    Cooperative Transportation of a Flexible Payload Using Two Quadrotors

    Chen, Ti / Shan, Jinjun / Liu, Hugh H. T. | AIAA | 2021