Loading...

Cooperative Slung-Load Transportation by Quadrotors in Urban Environment, Path Planning and Tracking

Abeshtan, Peyman | 2024

9 Viewed
  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 56803 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Saghafi, Fariborz
  7. Abstract:
  8. In this research, the aerial load transportation in the urban environment by cooperative quadrotors is investigated. This system requires two sub-systems: path planning and control. The path planning subsystem designs the payload's path and at the same time determines the shape of the flight formation of agents in order to be able to carry the payload. The design of the path-formation is done in the presence of constraints such as the collision avoidance with obstacles, inter-collision avoidance to each other, the collision avoidance of the slung load with the obstacles and the minimum and maximum allowable cables' forces. Therefore, the shape of the formation flight is determined automatically according to the width of the passages. Also, the designed path should be optimal in terms of the minimum length of the path and swing motions of the load while satisfying the mentioned constraints. The suitable solution is to use a path planning algorithm in two phases. The first phase is to search for the path with the minimum length, observing the constraint of not colliding to buildings and obstacles in a discrete environment. Then the designed path in the discrete environment which is a list of waypoints is presented to another optimization algorithm to determine an optimal continuous trajectory by sattisfying the constraints. The second phase of the algorithm evaluates and modifies the path in terms of the ability of the system dynamics and the controller to execute it. Also, the flight formation of the quadrotors, which determines the cooperation between them, is formed in the second phase. A robust guidance and control algorithm using a new fuzzy-sliding mode controller is presented for tracking the flight path and formation shape. The performance superiority of the proposed controller compared to the existing controller methods is shown using simulation
  9. Keywords:
  10. Path Planning ; A Star Search Method ; Particles Swarm Optimization (PSO) ; Fuzzy-Sliding Mode Method ; Backstepping Algorithm ; Formation Control ; Obstacle Avoidance ; Cooperative Flight ; Quadrotor Guidance ; Slung Load Transportation

 Digital Object List

 Bookmark

No TOC