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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10438435/ |
| _version_ | 1797296349774872576 |
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| author | Xiao Han Ryo Miyazaki Tianhua Gao Kohji Tomita Akiya Kamimura |
| author_facet | Xiao Han Ryo Miyazaki Tianhua Gao Kohji Tomita Akiya Kamimura |
| author_sort | Xiao Han |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-07T22:03:22Z |
| format | Article |
| id | doaj.art-8a07a35abd644d5c91c231c9113ef984 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-07T22:03:22Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-8a07a35abd644d5c91c231c9113ef9842024-02-24T00:01:17ZengIEEEIEEE Access2169-35362024-01-0112270292703810.1109/ACCESS.2024.336670410438435Large-Workspace Dual Multi-Rotor Aerial Payload Deployment System Using a Cable-Suspended Device With Ducted FansXiao Han0https://orcid.org/0000-0003-2358-7038Ryo Miyazaki1https://orcid.org/0000-0001-8848-9098Tianhua Gao2https://orcid.org/0009-0008-5929-3545Kohji Tomita3https://orcid.org/0000-0001-9796-0443Akiya Kamimura4https://orcid.org/0000-0003-2358-7038Graduate School of Science and Technology, University of Tsukuba, Tsukuba, JapanNational Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, JapanGraduate School of Science and Technology, University of Tsukuba, Tsukuba, JapanNational Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, JapanNational Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, JapanThe 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.https://ieeexplore.ieee.org/document/10438435/Cable-suspensiondisturbance estimation and rejectionactuated payload deployment devicemulti-rotorunmanned aerial vehicles |
| spellingShingle | Xiao Han Ryo Miyazaki Tianhua Gao Kohji Tomita Akiya Kamimura Large-Workspace Dual Multi-Rotor Aerial Payload Deployment System Using a Cable-Suspended Device With Ducted Fans IEEE Access Cable-suspension disturbance estimation and rejection actuated payload deployment device multi-rotor unmanned aerial vehicles |
| title | Large-Workspace Dual Multi-Rotor Aerial Payload Deployment System Using a Cable-Suspended Device With Ducted Fans |
| title_full | Large-Workspace Dual Multi-Rotor Aerial Payload Deployment System Using a Cable-Suspended Device With Ducted Fans |
| title_fullStr | Large-Workspace Dual Multi-Rotor Aerial Payload Deployment System Using a Cable-Suspended Device With Ducted Fans |
| title_full_unstemmed | Large-Workspace Dual Multi-Rotor Aerial Payload Deployment System Using a Cable-Suspended Device With Ducted Fans |
| title_short | Large-Workspace Dual Multi-Rotor Aerial Payload Deployment System Using a Cable-Suspended Device With Ducted Fans |
| title_sort | large workspace dual multi rotor aerial payload deployment system using a cable suspended device with ducted fans |
| topic | Cable-suspension disturbance estimation and rejection actuated payload deployment device multi-rotor unmanned aerial vehicles |
| url | https://ieeexplore.ieee.org/document/10438435/ |
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