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Motion Planning and Control of Two Quadcopters with Cable-Suspended Point Mass Payload

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Recent Advances in Machines and Mechanisms

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

Considering the low payload carrying capacity for a single quadcopter, one option to increase the payload carrying capacity is the use of more than one quadcopter. This work focuses on trajectory planning and control of two quadcopters with a cable-suspended point mass payload system using a leader–follower scheme. For safe and stable transportation of suspended payload, the quadcopters should be controlled to not lead to cable slackness. Accordingly, wrench closure analysis is carried out for the follower quadcopter with respect to the leader quadcopter, which helps design desired trajectory generation for the quadcopters. The performance of the proposed motion planning strategy is verified by conducting simulation in SIMSCAPE multibody package in MATLAB.

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Acknowledgements

This work is supported by Core Research Grant (CRG/2020/004990) from SERB India.

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Authors and Affiliations

  1. Human-Centered Robotics Lab, Indian Institute of Technology Gandhinagar, Gandhinagar, 382355, India

    Pratik Prajapati & Vineet Vashista

Authors
  1. Pratik Prajapati
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  2. Vineet Vashista
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Corresponding author

Correspondence to Vineet Vashista .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, PDPM Indian Institute of Information Technology, Design and Manufacturing, Jabalpur, Madhya Pradesh, India

    Vijay Kumar Gupta

  2. Mechanical Engineering, Indian Institute of Technology Bombay, Mumbai, Maharashtra, India

    C. Amarnath

  3. Department of Mechanical Engineering, PDPM Indian Institute of Information Technology, Design and Manufacturing, Jabalpur, India

    Puneet Tandon

  4. Department of Mechanical Engineering, PDPM Indian Institute of Information Technology, Design and Manufacturing, Jabalpur, India

    M. Zahid Ansari

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Prajapati, P., Vashista, V. (2023). Motion Planning and Control of Two Quadcopters with Cable-Suspended Point Mass Payload. In: Gupta, V.K., Amarnath, C., Tandon, P., Ansari, M.Z. (eds) Recent Advances in Machines and Mechanisms. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-3716-3_46

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  • DOI: https://doi.org/10.1007/978-981-19-3716-3_46

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-3715-6

  • Online ISBN: 978-981-19-3716-3

  • eBook Packages: EngineeringEngineering (R0)

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