複数のマルチロータUAVを用いた協調搬送システムに関する研究

抄録

This paper addresses the problem of cooperative aerial transportation of a payload using a team of Multi-rotor UAVs. In recent years, Multi-rotor UAVs have been used in various fields. Among them, what is expected to be particularly active is the delivery of packages in the field of logistics. In this field, there are some experimental examples of delivery using Multi-rotor UAVs but they were only used solely. Using multiple UAVs in delivery may increase the load capacity or the size of the payload. For that purpose, we consider a cooperative transportation system using multiple Multi-rotor UAVs. We simulate the control method of this system based on the theory of Cable-Driven Parallel Robot (CDPR) using MATLAB. From the simulation results, we study that this method can control the position and the orientation of the payload independently, and considering the centripetal acceleration term of payload improves the control performance.