吊り下げペイロードを運ぶn台クアッドロータのホバリング最適配置
Optimum Configuration for Hovering n-Quadrotors carrying a Slung Payload
吊り下げペイロードを運ぶ複数クアッドロータについて、推力容量とプロペラ間距離を考慮し、ホバリングに必要な最小台数と最適配置を求める手法を提案した。
著者: Mohssen E. Elshaar, Pansie A. khodary, Meral L. Badr, Mohamad A. Sayegh, Zeyad M. Manaa, Ayman M. Abdallah
分類: cs.RO, math.DS
原文アブストラクト
This work proposes a strategy for organising quadrotors around a payload to enable hovering without external stimuli, together with a MATLAB software for modelling the dynamics of a quadrotor-payload system. Based on geometric concepts, the proposed design keeps the payload and system centre of mass aligned. Hovering tests that are successful confirm the method's efficiency. Moreover, the algorithm is improved to take thrust capacities and propeller distances into account, calculating the minimum number of quadrotors needed for hovering. The algorithm's effectiveness is demonstrated by numerical examples, which reveal that larger quadrotors may require fewer units while smaller ones give greater flexibility. Our code can be found at: \href{https://github.com/Hosnooo/Swarm-Slung-Payload}{https://github.com/Hosnooo/Swarm-Slung-Payload}