In this paper, the sling load dynamics of an aerial vehicle carrying a payload are investigated by employing three formulations of the governing equations. They are the hybrid formulation where the system exists in either a taut cable or slack cable configuration, with appropriate treatment of the transition between the two; the linear complementarity problem (LCP) formulation where the cable constraints are imposed as linear complementarity conditions and finally, the lumped parameter formulation where the cable is modelled with a series of spring-mass elements. The hybrid and LCP formulations neglect the elasticity of the cable while the lumped parameter model explicitly accounts for the elastic properties of the cable, albeit in a discrete way. The importance of the incorporation of elastic properties of the cable on the system is investigated for the variation in solution space of the payload. The three formulations are compared numerically, for information on the computational cost, motion of the payload, and tension profile, for several aerial maneuvers, including an aggressive obstacle avoidance with a window clearance flight.
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ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 26–29, 2018
Quebec City, Quebec, Canada
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5183-8
PROCEEDINGS PAPER
Three Formulations of Sling Load Dynamics for UAV Motion Planning and Control
Alexander Cicchino,
Alexander Cicchino
McGill University, Montreal, QC, Canada
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Inna Sharf
Inna Sharf
McGill University, Montreal, QC, Canada
Search for other works by this author on:
Alexander Cicchino
McGill University, Montreal, QC, Canada
Inna Sharf
McGill University, Montreal, QC, Canada
Paper No:
DETC2018-85174, V006T09A001; 10 pages
Published Online:
November 2, 2018
Citation
Cicchino, A, & Sharf, I. "Three Formulations of Sling Load Dynamics for UAV Motion Planning and Control." Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Quebec City, Quebec, Canada. August 26–29, 2018. V006T09A001. ASME. https://doi.org/10.1115/DETC2018-85174
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