Efficient sizing of a cargo rotorcraft

Meier, Wilfried H.; Olson, John R.

doi:10.2514/3.45619

Cited by 11 publications

(3 citation statements)

References 1 publication

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“…With current technology, even a moderate payload of a couple of kilograms would require a very large quadrotor. Apart from being more dangerous and more expensive, it is generally known in aviation that rotorcraft can scale only up to a certain size [1]. Besides, smaller quadrotors are generally more agile [2].…”

Section: Introductionmentioning

confidence: 99%

Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors

Gassner

Cieslewski

Scaramuzza

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

112

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Abstract-Transport of objects is a major application in robotics nowadays. While ground robots can carry heavy payloads for long distances, they are limited in rugged terrains. Aerial robots can deliver objects in arbitrary terrains; however they tend to be limited in payload. It has been previously shown that, for heavy payloads, it can be beneficial to carry them using multiple flying robots. In this paper, we propose a novel collaborative transport scheme, in which two quadrotors transport a cable-suspended payload at accelerations that exceed the capabilities of previous collaborative approaches, which make quasi-static assumptions. Furthermore, this is achieved completely without explicit communication between the collaborating robots, making our system robust to communication failures and making consensus on a common reference frame unnecessary. Instead, they only rely on visual and inertial cues obtained from on-board sensors. We implement and validate the proposed method on a real system.

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Section: Introductionmentioning

confidence: 99%

Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors

Gassner

Cieslewski

Scaramuzza

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

112

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“…This simple analysis means that at some point scaling will not work. In general, rotor-crafts can be scaled up to a certain size [23]. It is also argued by [24] that scaling up a multirotor could also be dangerous and more expensive.…”

Section: A Multi-rotorsmentioning

confidence: 99%

A Survey of Single and Multi-UAV Aerial Manipulation

Mohiuddin

Taha²,

Zweiri

et al. 2020

Un. Sys.

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Aerial manipulation has direct application prospects in environment, construction, forestry, agriculture, search, and rescue. It can be used to pick and place objects and hence can be used for transportation of goods. Aerial manipulation can be used to perform operations in environments inaccessible or unsafe for human workers. This paper is a survey of recent research in aerial manipulation. The aerial manipulation research has diverse aspects, which include the designing of aerial manipulation platforms, manipulators, grippers, the control of aerial platform and manipulators, the interaction of aerial manipulator with the environment, through forces and torque. In particular, the review paper presents the survey of the airborne platforms that can be used for aerial manipulation including the new aerial platforms with aerial manipulation capability. We also classified the aerial grippers and aerial manipulators based on their designs and characteristics. The recent contributions regarding the control of the aerial manipulator platform is also discussed. The environment interaction of aerial manipulators is also surveyed which includes, different strategies used for end-effectors interaction with the environment, application of force, application of torque and visual servoing. A recent and growing interest of researchers about the multi-UAV collaborative aerial manipulation was also noticed and hence different strategies for collaborative aerial manipulation are also surveyed, discussed and critically analyzed. Some key challenges regarding outdoor aerial manipulation and energy constraints in aerial manipulation are also discussed.

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“…Considering the high cost, great complexity, and low economy of the development of a heavy helicopter, the multi-helicopter cooperative lift as an alternative for heavy load transportation has been widely investigated. 1,2 Moreover, the helicopters have unique advantages in external load transportation due to their ability to take off or land vertically and hover at fixed points. 3,4 In addition, compared with the manned helicopters, the unmanned helicopters have wider flight envelope as well as better maneuverability without physiological limits of pilots and thus are more favorable for cooperative multi-lift.…”

Section: Introductionmentioning

confidence: 99%

Application of social spider optimization and improved active disturbance rejection controller in hierarchical control of cooperative multi-lift with four unmanned helicopters

Duan

Zhao

Tang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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To achieve the three-dimensional free movement of the slung load, a load-leading hierarchical control strategy has been adopted recently which divides the cooperative multi-lift system into a load layer, a cable layer, and an aircraft layer. But there exists a non-convex optimization problem in the cable layer when computing the force of each cable, and more control difficulties of the aircraft due to the additional disturbances resulting from the load movement. To solve these problems, an application of the social spider optimization (SSO) algorithm and the improved active disturbance rejection controller (IADRC) in hierarchical control of cooperative multi-lift with four unmanned helicopters is proposed in this study. First, the unmanned helicopters as well as the load are modeled. Then the three layers mentioned above are designed, respectively. Specifically, an optimization method combining SSO with the MATLAB/fmincon function is proposed to solve the non-convex problem in the cable layer. And within the unmanned helicopter layer, the fuzzy theory is introduced into the nonlinear error feedback control strategy of the traditional active disturbance rejection controller (ADRC) to realize the control of the unmanned helicopter. At last, some simulations are carried out, and the results indicate that the system has higher calculation efficiency, smaller steady-state error, and better adaptability to trajectory change or load release with the designed hierarchical control strategy.

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Efficient sizing of a cargo rotorcraft

Cited by 11 publications

References 1 publication

Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors

Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors

A Survey of Single and Multi-UAV Aerial Manipulation

Application of social spider optimization and improved active disturbance rejection controller in hierarchical control of cooperative multi-lift with four unmanned helicopters

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