karamdaaboul / cooperative_load_transport_quadrotors Goto Github PK

We address the problem of cooperative transportation of a cable-suspended payload by multiple quadrotors. This work based on the work which is maded by Kumar and Sreenath 1. In the beginning, we determine the equations describing the dynamics of the system. Then we define the differentiall flatness of a dynamic system and determine the flat output vector of our system. Finally we write a program with matlab to implement the motion of N quadrotors with a mass point.

This program requrirs no additional toolboxes

Quadpolt: creates an object to plot one of the quadrotor
Loadpolt: create an object to plot the Load
DiffFlat: determines the input vector and the state vector from the output vector
CreatTraj: creates optimal trajectory between two given way points
PlotResults: plots the results.

To start the program with the default value you can use the code:

step1

[1]: K. Sreenath and V. Kumar. Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots, 2013, http://www.kumarrobotics.org/wp-content/uploads/2014/01/p11.pdf
[2]: D. Mellinger and V. Kumar. Minimum Snap Trajectory Generation and Control for Quadrotors,http://www-personal.acfr.usyd.edu.au/spns/cdm/papers/Mellinger.pdf
[3]: M.K. Daaboul. Kooperative Regelung von Quadrokoptern bei Berücksichtigung von Hindernissen und Kopplung,2017 Unversity of Kassel