2022
Chen*, Ti; Shan, Jinjun; Liu, Hugh H. T.
Transportation of Payload Using Multiple Quadrotors via Rigid Connection Journal Article
In: International Journal of Aerospace Engineering, 2022 , pp. 1-13, 2022, ISSN: 1687-5974.
Abstract | Links | BibTeX | Tags: corresponding author
@article{IJAE2022TC,
title = {Transportation of Payload Using Multiple Quadrotors via Rigid Connection},
author = {Ti Chen* and Jinjun Shan and Hugh H. T. Liu},
editor = {Adel Ghenaiet},
url = {https://www.hindawi.com/journals/ijae/2022/2486561/},
doi = {10.1155/2022/2486561},
issn = {1687-5974},
year = {2022},
date = {2022-01-01},
journal = {International Journal of Aerospace Engineering},
volume = {2022},
pages = {1-13},
abstract = {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.},
keywords = {corresponding author},
pubstate = {published},
tppubtype = {article}
}
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.
2021
Chen*, Chih-chun; Liu, Hugh H. -T.
Adaptive Modelling for Downwash Effects in Multi-UAV Path Planning Journal Article
In: Guidance, Navigation and Control, 1 , pp. (2140005) 1-16, 2021.
Abstract | Links | BibTeX | Tags: adaptive modelling for downwash, corresponding author, effects in multi-uav path, planning
@article{JGNC2021CC,
title = {Adaptive Modelling for Downwash Effects in Multi-UAV Path Planning},
author = {Chih-chun Chen* and Hugh H. -T. Liu},
doi = {10.1142/S27374807214000572140005-1},
year = {2021},
date = {2021-01-01},
journal = {Guidance, Navigation and Control},
volume = {1},
pages = {(2140005) 1-16},
abstract = {This paper develops a novel method to model the air °ow downwash force generated by thequadrotor unmanned aerial vehicle (UAV) and its e®ect on the neighboring UAVs. Each UAV isshaped by a virtual structure for collision-free path planning. The shape is modi ̄ed from astandard spherical body to a proposed adaptive cylinder to optimize the path planning whileminimizing the downwash impact. The cylinder height varies based on the UAV circumstanceand the predicted downwash impact. Furthermore, the downwash model can aid in the cylinderheight extreme value appointment. A °ock-based path planning algorithm is investigated in thisstudy to compare the spherical UAV shape model with the proposed cylindrical UAV shapemodel. The UAV with the adaptive cylindrical model is simulated and veri ̄ed via Gazebo andRobot Operating System (ROS) simulation platform.},
keywords = {adaptive modelling for downwash, corresponding author, effects in multi-uav path, planning},
pubstate = {published},
tppubtype = {article}
}
This paper develops a novel method to model the air °ow downwash force generated by thequadrotor unmanned aerial vehicle (UAV) and its e®ect on the neighboring UAVs. Each UAV isshaped by a virtual structure for collision-free path planning. The shape is modi ̄ed from astandard spherical body to a proposed adaptive cylinder to optimize the path planning whileminimizing the downwash impact. The cylinder height varies based on the UAV circumstanceand the predicted downwash impact. Furthermore, the downwash model can aid in the cylinderheight extreme value appointment. A °ock-based path planning algorithm is investigated in thisstudy to compare the spherical UAV shape model with the proposed cylindrical UAV shapemodel. The UAV with the adaptive cylindrical model is simulated and veri ̄ed via Gazebo andRobot Operating System (ROS) simulation platform.