Load Transportation by Quadrotors in Crowded Workspaces

Igor H. B. Pizetta, Alexandre S. Brandao, Mario Sarcinelli-Filho
2020 IEEE Access  
Load transportation by unmanned aerial vehicles has many advantages in comparison with load transportation by unmanned ground vehicles. With the vehicle in the air obstacles in the ground and hard terrains are not a problem anymore, for instance. Moreover, higher speeds can be developed, allowing faster task accomplishment. The disadvantage is the possibility of load oscillations during the flight, which should be compensated through using suitable controllers. Furthermore, aiming at a real
more » ... iming at a real application, such as the delivery of medical kits for victims of disasters, the control system responsible for the navigation should embed an obstacle avoidance technique that works in harmony with the compensation of the load oscillations. In this work a load delivery task in an environment crowded with obstacles is addressed, in which the aerial vehicle should deliver the cargo at a specified target point. Euler-Lagrange equations are used to model the vehicle-load system, and a feedback-linearization controller is designed based on such a model, which is able to reject the load oscillations. The obstacle avoidance module embedded in the controller is also concerned to the efficiency in the task accomplishment, such that it avoids abrupt movements and reduction of the forward velocity of the vehicle. Several real experiments in which the proposed control system is adopted have been run, some of them presented here, whose results validate the proposed controller.
doi:10.1109/access.2020.3043719 fatcat:iug4stfyxrbwbot5lbnsi3fnkm