Cooperative Load Transport Using Multiple Quadrotors
Publish place: Second Iranian Conference on Avionics System
Publish Year: 1393
Type: Conference paper
Language: English
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Document National Code:
ICADI02_051
Index date: 1 May 2015
Cooperative Load Transport Using Multiple Quadrotors abstract
This paper presents a strategy for cooperative load transportation using multiple quadrotors. This is useful when the maximum thrust of single quadrotor is not enough for loadtransportation or when more redundancy is required for safety. A Modified Leader-Follower (MLF) structure is consideredfor formation control of multiple quadrotors. The model of quadrotors are assumed as double integral. The LQR consensus algorithm is applied for quadrotors guidance, which waspresented before for mobile robots with double integral models in 2 dimensions. In this work, the effect of common suspendedload from a group of quadrotors is investigated. Moreover, the ability of the LQR consensus algorithm is surveyed when one ofthe connections between the load and a quadrotor is cut. Finally a simulation example is presented to confirm the effectiveness of this method for cooperative load transformation.
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Cooperative Load Transport Using Multiple Quadrotors authors
Behzad Shirani
Electrical & Computer engineering Department, Isfahan University of Technology, Isfahan, IRAN
Majdeddin Najafi
Avionics Research Institute, Isfahan University of Technology, Isfahan, IRAN
Iman Izadi
Electrical & Computer engineering Department, Isfahan University of Technology, Isfahan, IRAN
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