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

Zu Qun Li, Joseph Francis Horn, Jack W. Langelaanz

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

9 Citations (Scopus)

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

Fingerprint

Slings
Helicopters
Gravitation
Cables
Controllers
Trajectories

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Li, Z. Q., Horn, J. F., & Langelaanz, J. W. (2014). Coordinated transport of a slung load by a team of autonomous rotorcraft. In AIAA Guidance, Navigation, and Control Conference (AIAA Guidance, Navigation, and Control Conference). https://doi.org/10.2514/6.2014-0968
Li, Zu Qun ; Horn, Joseph Francis ; Langelaanz, Jack W. / Coordinated transport of a slung load by a team of autonomous rotorcraft. AIAA Guidance, Navigation, and Control Conference. 2014. (AIAA Guidance, Navigation, and Control Conference).
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Li, ZQ, Horn, JF & Langelaanz, JW 2014, Coordinated transport of a slung load by a team of autonomous rotorcraft. in AIAA Guidance, Navigation, and Control Conference. AIAA Guidance, Navigation, and Control Conference, AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014, National Harbor, MD, United States, 1/13/14. https://doi.org/10.2514/6.2014-0968

Coordinated transport of a slung load by a team of autonomous rotorcraft. / Li, Zu Qun; Horn, Joseph Francis; Langelaanz, Jack W.

AIAA Guidance, Navigation, and Control Conference. 2014. (AIAA Guidance, Navigation, and Control Conference).

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

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AB - 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.

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Li ZQ, Horn JF, Langelaanz JW. Coordinated transport of a slung load by a team of autonomous rotorcraft. In AIAA Guidance, Navigation, and Control Conference. 2014. (AIAA Guidance, Navigation, and Control Conference). https://doi.org/10.2514/6.2014-0968