Large-Workspace Dual Multi-Rotor Aerial Payload Deployment System Using a Cable-Suspended Device With Ducted Fans

The demand for payload transportation has shown exceptional growth owing to its inherent convenience and ability to reduce manpower requirements. To address the limitations of previous studies that primarily employed a single multi-rotor to deploy payloads within a limited reach, we designed a cable...

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Bibliographic Details
Published in:IEEE access 2024, Vol.12, p.27029-27038
Main Authors: Han, Xiao, Miyazaki, Ryo, Gao, Tianhua, Tomita, Kohji, Kamimura, Akiya
Format: Article
Language:English
Subjects:
actuated payload deployment device
Algorithms
Autonomous aerial vehicles
Cable-suspension
Control systems design
Design
disturbance estimation and rejection
Ducted fans
Ducts
Fans
Manipulators
multi-rotor
Payloads
Rotors
Servomotors
Torque
Transportation
unmanned aerial vehicles
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Summary:The demand for payload transportation has shown exceptional growth owing to its inherent convenience and ability to reduce manpower requirements. To address the limitations of previous studies that primarily employed a single multi-rotor to deploy payloads within a limited reach, we designed a cable-suspended aerial payload deployment system with a large workspace that allowed payload deployment at a distance from the multi-rotor platforms. Our system comprised two multi-rotors, a payload deployment device (PDD, hereafter) with ducted fans, servomotors and a microcomputer. The ducted fans were used not only for swing suppression during payload transportation, but also to ensure that the PDD maintained a certain angle to the vertical plane where the dual multi-rotors were located during the deployment phase. Compared to existing research results, our design has a larger working distance in the vertical and horizontal directions. The controller designed for the PDD was adaptive and robust to variation of the payload mass and distance between the dual multi-rotors. We verified the effectiveness of our design and algorithms through several experiments.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2024.3366704