Flight formation control for multi-rotors with slung payload

悬挂式多旋翼飞行编队控制

• 批准号: 508381-2016
• 负责人: Liu, Hugh
• 金额: $ 3.64万
• 依托单位: University of Toronto
• 依托单位国家: 加拿大
• 项目类别: Collaborative Research and Development Grants
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=657747
• 关键词: Flight; formation; control; multi; rotors

Unmanned aerial vehicles (UAVs) hold great promise for applications as diverse as natural resource monitoring, infrastructure inspection (pipeline, railways), agriculture, mineral exploration, journalism, and search & rescue operations. This is the most vibrant sector of the aerospace industry, growing more quickly than any other segment. One emerging market of UAV applications is package delivery. From technology perspective, it is feasible yet there exist some technical challenges. Most UAVs (drones) in consideration for commercial applications are small sized to enjoy their portability and mobility, however they may not be able to carry large payload due to the capacity constraints. A large vehicle configuration, on the other hand, would discount the benefits of UAV operations in terms of flexibility and agility. This proposed research project offers an alternative solution, that is, to fly a group of small UAVs in coordination to share and carry package. The proposed research project is in collaboration with Drone Delivery Canada Inc. (DDC) with prototyping and proof-of-concept field flight demonstration to support the company's initiative in autonomous package delivery by UAVs. The novel technology may have disruptive impact on the delivery sector as it is scalable to meet various customer requirements. ****The proposed project will address the following technical aspects. 1) Dynamics; 2) Stability; and 3) Control. The overall research goal of this project is to design a complete system for multi-rotor fleet to cooperatively perform payload transfer through cable suspension system. The results are expected to be demonstrated by field flight experiments with DDC.****

无人驾驶汽车（UAVS）对像自然资源监测，基础设施检查（管道，铁路），农业，矿产探索，新闻和搜救行动等多样化的应用具有巨大的希望。这是航空航天行业中最有活力的部门，比其他任何领域都更快。无人机应用程序的一个新兴市场是包装交付。从技术的角度来看，这是可行的，但存在一些技术挑战。考虑商业应用的大多数无人机（无人机）尺寸很小，可以享受其可移植性和移动性，但是由于容量限制，它们可能无法承担较大的有效载荷。另一方面，大型车辆配置将在灵活性和敏捷性方面折现无人机操作的好处。该提议的研究项目提供了一种替代解决方案，即驾驶一组用于协调的小型无人机以共享和携带包装。 拟议的研究项目与Drone Delivery Canada Inc.（DDC）合作，与概念验证和概念验证实地飞行示范，以支持该公司在UAVS的自主包装交付方面的倡议。 新技术可能会对交付行业产生破坏性的影响，因为满足各种客户需求是可扩展的。 ****建议的项目将解决以下技术方面。 1）动力学； 2）稳定性； 3）控制。该项目的总体研究目标是设计一个完整的系统，以通过电缆悬架系统合作执行有效载荷转移。预计将通过DDC进行现场飞行实验来证明结果。****