Villa, Daniel Khede Dourado (Federal University of Espírito Santo), Brandao, Alexandre Santos (Federal University of Vicosa), Sarcinelli-Filho, Mário (Federal University of Espirito Santo)

Rod-Shaped Payload Transportation Using Multiple Quadrotors

Scheduled for presentation during the Regular Session "UAS Applications V" (ThC2), Thursday, June 13, 2019, 17:20−17:40, Heritage C

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 18, 2024

Abstract

Aiming to address and contribute to the subject of load transportation using aerial vehicles, this work presents a cooperative system using two quadrotors to carry a rod-shaped load. The problem was treated as a virtual structure formation, treating the load and quadrotor as a line formation that needs to be accomplished. The load is carried in a cable-suspended manner, and a nonlinear controller based on feedback linearization was employed to fulfill the missions while minimizes the load oscillations. Experiments were conducted utilizing two AR.Drone 2.0 quadrotors, carrying an aluminum rod. The paper presents its results in illustrations and videos, showing the performance of the proposed algorithms and validating the proposals.