Development of a Quadrotor Slung Payload System
Silas Graham · TSpace (University of Toronto) · 2019
In this work, a quadrotor unmanned aerial vehicle is investigated for the task of a slung payload delivery. A simplified guidance law is proposed to address the problem of autonomous landing with a slung payload. In addition, a complete development framework is presented. This includes a generic dynamic model for the slung payload system, a simulation environment, and an experimental platform, capable of completing the mission. This framework is used to assess the feasibility of the proposed approach and validate it through flight tests. The proposed guidance law is compared to a controller without guidance, both in simulation and in experimental flight tests. It was found that the guidance law achieved a smooth trajectory with minimal payload swing during the autonomous landing mission segment.