Load Manipulation by a Triangular Formation of Quadrotors

摘要

This work discusses a trajectory tracking task accomplished by a group of three Bebop 2 quadrotors working cooperatively to transport a load. Such unmanned aerial vehicles (UAVs) are considered as a triangular formation, and the load, a triangle-shaped structure, is attached to them through massless flexible cables. The reason to use three quadrotors is the gain in terms of the payload capability and the stability of the load, since it is attached to three vehicles, staying vertically aligned with the center of mass of the triangle correspondent to the formation. A formation controller, actually a kinematic controller applied to a virtual massless robot correspondent to the center of mass of the triangle, is adopted, which generates reference velocities for the three UAVs, whose movement generates the movement and reshaping of the triangular formation. Then, individual dynamic compensators are adopted for each UAV, whose input is the reference velocity delivered by the formation controller. Finally, experimental results are discussed, which validate the proposal.