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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    Title :

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


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Ping, Yuan (author) / Qi, Juntong (author) / Wang, Mingming (author) / Wu, Chong (author)

    Conference:

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



    Publication date :

    2025-03-13


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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