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On-board cable attitude measurement and controller for outdoor aerial transportation

Published online by Cambridge University Press:  17 September 2021

Pratik Prajapati Open the ORCID record for Pratik Prajapati [Opens in a new window] ,
Sagar Parekh Open the ORCID record for Sagar Parekh [Opens in a new window]  and
Vineet Vashista Open the ORCID record for Vineet Vashista [Opens in a new window]
Pratik Prajapati
Affiliation:
Human-Centered Robotics Lab, IIT Gandhinagar, Ahmedabad, India
Sagar Parekh
Affiliation:
Human-Centered Robotics Lab, IIT Gandhinagar, Ahmedabad, India
Vineet Vashista*
Affiliation:
Human-Centered Robotics Lab, IIT Gandhinagar, Ahmedabad, India
*
*Corresponding author. E-mail: vineet.vashista@iitgn.ac.in
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Abstract

Deploying quadcopters for aerial transportation can be cost effective in impromptu material handling applications. However, such applications are limited mainly due to the requirement of onboard localization sensors and associated computation. The current work presents a human-controlled modality to successfully execute spontaneous outdoor flight of a quadcopter with a cable-suspended payload. Stable and smooth flights are achieved through an onboard integration of a custom-built sensor system and a controller to minimize payload oscillations. The feasibility of the proposed modality is demonstrated by conducting outdoor experiments and a case study in an unstructured environment.

Keywords

Human-quadcopter interactionAerial transportationCable-suspended payload
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1650 - 1664
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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