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 language | English (US) |
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| Title of host publication | AIAA Guidance, Navigation, and Control Conference |
| DOIs | |
| State | Published - Feb 28 2014 |
| Event | AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014 - National Harbor, MD, United States Duration: Jan 13 2014 → Jan 17 2014 |
Publication series
| Name | AIAA Guidance, Navigation, and Control Conference |
|---|
Other
| Other | AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014 |
|---|---|
| Country | United States |
| City | National Harbor, MD |
| Period | 1/13/14 → 1/17/14 |
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All Science Journal Classification (ASJC) codes
- Aerospace Engineering
- Control and Systems Engineering
Cite this
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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 proceeding › Conference contribution
TY - GEN
T1 - Coordinated transport of a slung load by a team of autonomous rotorcraft
AU - Li, Zu Qun
AU - Horn, Joseph Francis
AU - Langelaanz, Jack W.
PY - 2014/2/28
Y1 - 2014/2/28
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84894477150&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84894477150&partnerID=8YFLogxK
U2 - 10.2514/6.2014-0968
DO - 10.2514/6.2014-0968
M3 - Conference contribution
AN - SCOPUS:84894477150
SN - 9781600869624
T3 - AIAA Guidance, Navigation, and Control Conference
BT - AIAA Guidance, Navigation, and Control Conference
ER -