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UID:0-389@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20180101T163000

DTEND;TZID=Asia/Jerusalem:20180101T173000

DTSTAMP:20230527T140922Z

URL:https://aerospace.technion.ac.il/events/the-aeromechanics-of-an-autono
 mous-multi-multirotor-uav-system-for-payload-transportation/

SUMMARY:The Aeromechanics of an Autonomous Multi-Multirotor UAV System for 
 Payload Transportation
DESCRIPTION:Lecturer:Anton Cooper\n Faculty:Technion Autonomous Systems Pro
 gram (TASP)\n Institute:Technion – Israel Institute of Technology\n Loca
 tion:Classroom 165\, ground floor\, Library\, Aerospace Eng.\n Zoom: \n Ab
 stract: \n Details: \n Unmanned Aerial Vehicles (UAVs) are known to be adv
 antageous for many applications in security\, monitoring of natural risks 
 of environment\, management of ground installations\, and agriculture. In 
 recent years\, the share of autonomous payload transportation by rotary-wi
 ng UAVs is growing rapidly as well. Such vehicles allow operation in limit
 ed and confined environments\, urban areas or even indoor sceneries. Yet\,
  the implementation of such systems is limited due to the limited lifting 
 capabilities of most of the existing hovering vehicles.\nWe address this i
 ssue by utilizing a slung-load approach in which the payload is hauled by 
 multiple quad-rotors. The idea is to explore the possibility to use such 
 “of-the-shelf” vehicles that were originally designed to operate indep
 endently\, and connect them by cables to a payload in order to perform a c
 ooperative transportation mission. In such a system\, each vehicle is inde
 pendently assigned with a trajectory while treating cable forces as additi
 onal external disturbance loads. This setting naturally raises questions r
 egarding its feasibility and characteristics. However\, if this system is 
 indeed feasible\, it constitute a valuable and extremely modular and effec
 tive arrangement for a variety of payloads by non-dedicated vehicles while
  the number of UAVs that are assigned for each mission is changed accordin
 g to the payload weight\, while no further adjustments are required. In th
 e current study\, a multiple quadrotor-single payload (MQSL) transportatio
 n system is analyzed using numerical simulative approach.\nAs opposed to t
 he common “constant rotor force coefficients approach”\, the quadrotor
  dynamics is modeled using detailed rotor aerodynamics\, which is founded 
 on an extended Blade-Element-Theory and enables simulation of unique and i
 mportant flight regimes such as slow descent and gusty conditions. Additio
 nal feature of the present modeling is a refined cable simulation. This mo
 del consists of breaking the cable into finite segments which are elastica
 lly connected along with a local aerodynamic drag model for each segment. 
 These enable simulation of the cable bending modes and a capability to sim
 ulate loose cables\, which are typically not taken into account in full-sc
 ale helicopter slung-load models. Stability analysis and typical normal mo
 des of the system will be presented. The suggested methodology includes an
  extension of feedback linearization control algorithm for quadrotor vehic
 les\, in addition to a trajectory scheduling algorithm for individual quad
 rotor vehicle.\nWithin the validity checks of the proposed setting\, the M
 QSL dynamics and control simulation was also successfully integrated with 
 a Rapidly-exploring random tree (RRT) path planning algorithm. This algori
 thm provides collision free\, reference path in a tight and confined urban
  and indoor environments.\nSeveral examples of transportation scenarios\, 
 of pre-defined trajectories such as circular motion\, slalom and "bug trap
  escaping path” will be demonstrated. The results of the present simulat
 ive study of MQSL systems give rise to a cautious optimism about the possi
 bility of implementing such systems for modular payload transportation.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng.

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