Coordinated transport of a slung load by a team of autonomous rotorcraft

Zu Qun Li, Joseph F. Horny, Jack W. Langelaanz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations

Abstract

This paper describes a hierarchical approach to coordinated transportation of a slung load by a team of autonomous helicopters. A closed-loop controller computes net force and moments on the load's center of gravity so a desired trajectory is followed; cable forces at each attachment point are computed so that the net force and moment on the center of gravity equal the desired values from the controller; finally each helicopter's position, velocity, and thrust are computed to obtain the desired attachment force, assuming a compliant cable connects the helicopter to the load. Results of simulations showing four degree of freedom transport of a load (North, East, Down position and yaw angle) show the utility of the proposed approach.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
DOIs
StatePublished - Feb 28 2014
EventAIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014 - National Harbor, MD, United States
Duration: Jan 13 2014Jan 17 2014

Publication series

NameAIAA Guidance, Navigation, and Control Conference

Other

OtherAIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014
CountryUnited States
CityNational Harbor, MD
Period1/13/141/17/14

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering

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