Guidance Laws for Load Redistribution Among UAVs

Chopra, O and Chakravarthy, A and Ghose, D (2022) Guidance Laws for Load Redistribution Among UAVs. In: AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022, 3-7 Jan 2022, San Diego.

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Abstract

In this paper, we consider a scenario where multiple quadrotors are transporting a slung load and the battery level of one of the quadrotors begins to run low during the flight. The quadrotors then respond with an in-flight load re-distribution by re-configuring their formation so that the weak quadrotor carries a lighter load, and the other quadrotors carry a heavier load. We develop a guidance and control strategy which ensures that this load re-distribution takes place with minimal change in the trajectory and velocity of the load. Simulations are presented to demonstrate the efficacy of the method. © 2022, American Institute of Aeronautics and Astronautics Inc.. All rights reserved.

Item Type:	Conference Paper
Publication:	AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022
Publisher:	American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information:	The copyright for this article belongs to American Institute of Aeronautics and Astronautics Inc, AIAA
Keywords:	Battery levels; Flight loads; Guidance and control; Guidance laws; Guidance strategy; Heavy loads; Load redistribution; Quad rotors; Re-distribution; Slung load
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	07 Feb 2022 12:11
Last Modified:	07 Feb 2022 12:11
URI:	http://eprints.iisc.ac.in/id/eprint/71245

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