In-Air Exchange of Small Payloads Between Multirotor Aerial Systems
In-Air Exchange of Small Payloads Between Multirotor Aerial Systems
复制标题
多旋翼飞行系统之间小型有效载荷的空中交换
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Carrick Detweiler
中科院分区：
文献类型：
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作者：
A. Shankar;Sebastian G. Elbaum;Carrick Detweiler
在多辆车之间交换有效载荷是一个具有挑战性的问题，在持续监测和远程有效载荷运输中得到了应用。在本文中，我们采取的问题更进一步，并探讨设计和实施的系统，可以交换一个小的货物/有效载荷，而机载的飞行器。所提出的方法利用多旋翼飞行器的悬停能力，并在这样的任务（如接近和接触力）所施加的限制和挑战内工作。它也是便携式的各种车辆，并不需要定制的飞行机动，以是可行的。一个模拟框架被用来突出系统所解决的关键挑战。我们提出了详细的结果，从户外进行的实验，演示两辆车之间交换一个小的60 g有效载荷单元。
Exchanging payloads between multiple vehicles is a challenging problem that finds applications in sustained monitoring and long-range payload transportation. In this paper, we take the problem one step further and explore the design and implementation of a system of aerial vehicles that can exchange a small cargo/payload while air-borne. The proposed approach exploits the hover-capabilities of multirotor vehicles, and works within the constraints and the challenges imposed by such a task (such as proximity and contact forces). It is also portable to a wide range of vehicles, and does not require custom flight maneuvers in order to be viable. A simulation framework is utilized to highlight the key challenges addressed by the system. We present detailed results from experiments conducted outdoors that demonstrate two vehicles exchanging a small 60 g payload unit between them.