Attitude Control for Cooperative Transportation by Multiple Coaxial-UAVs
Yutaka INOUE, Hiroshi IGARASHI · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2021
With recent developments in UAV technology, manned work has been replaced by multi-copters. Furthermore, the integration of cameras and sensors has made it possible to fly beyond visual line-of-sight, and UAVs are expected to be used for transporting. However, transporting with a single UAV becomes larger and more expensive due to the payload problem. Therefore, we propose a cooperative transportation system using multiple Coaxial-UAVs. In this paper, we control the attitude of the Coaxial-UAVs using STA architecture. The STA architecture uses Neural-Network to learn motions according to the state of the environment without considering the overall system modeling and the positional relationship between the UAVs. In the experiment, we investigate the attitude control using multiple Coaxial-UAVs with the test bench limited to 1 DoF. As a result, it was suggested that the attitude control is possible even in the asymmetrical balance of the UAVs.