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UID:0-264@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20210317T163000

DTEND;TZID=Asia/Jerusalem:20210317T173000

DTSTAMP:20230525T063734Z

URL:https://aerospace.technion.ac.il/events/transportation-of-a-slung-load
 -using-multiple-multirotors-while-maintaining-a-constant-altitude-above-th
 e-terrain/

SUMMARY:Transportation of a Slung Load Using Multiple Multirotors While Mai
 ntaining a Constant Altitude Above the Terrain
DESCRIPTION:Lecturer:Tomer Levy\n Faculty:Department of Aerospace Engineeri
 ng\n Institute:Technion – Israel Institute of Technology\n Location:http
 s://technion.zoom.us/j/99906260343\n Zoom: \n Abstract: \n Details: \n In 
 recent years\, the use of multi-rotors has been drastically increased both
  in military and civil applications. Specifically\, load transportation us
 ing a flock of rotary unmanned aerial vehicles (UAVs) has been widely stud
 ied and developed in the last decade. Carrying a load using multiple UAVs 
 allows to significantly increase the maximum weight that can be carried.\n
 Beyond the challenge of controlling the multi-UAV connected to a load syst
 em\, the ability to keep the load at constant altitude above the terrain e
 xposes us to a field of autonomous complex maneuvers which is attractive f
 or a wide range of applications. In this study we incorporate the terrain 
 following capability into a multi-UAV connected to a load system\, which w
 as not addressed in the open literature.\nThis research revolves around th
 e development of a control algorithm that will allow the safe transportati
 on of a load using a team of three or more octorotors as actuators. The al
 gorithm accounts for different constraints such as safety distance between
  the octorotors\, maximum allowed force each octorotor can provide\, and m
 ore. The system incorporates a terrain following capability that relies on
  measurements received from body-fixed Laser Range Finder (LRF) sensors in
 stalled on the octorotors.\nThe algorithm was validated and tested for dif
 ferent scenarios using a realistic 6DOF simulation that incorporates distu
 rbances\, measurement noises and model inaccuracies. A parametric study wa
 s conducted in order to determine the optimal configuration of the LRF sen
 sors and to examine parameter sensitivity of the setup. The system has dem
 onstrated impressive performance characteristics for a variety of flight c
 onditions.\nZoom Meeting
CATEGORIES:Seminars
LOCATION:https://technion.zoom.us/j/99906260343

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