Cargo transportation strategy using T3-multirotor UAV

Seung Jae Lee; Dongjae Lee; H. Jin Kim

doi:10.1109/ICRA.2019.8794203

Cargo transportation strategy using T³-multirotor UAV

Seung Jae Lee, Dongjae Lee, H. Jin Kim

Dept. of Mechanical System and Design Engineering

Seoul National University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

In this paper, we introduce a cargo transportation method with a new type of multi-rotor UAV platform known as T³-multirotor, to achieve stable and constant flight performance regardless of the type of cargo attached to the fuselage. The T3-multirotor, which consists of the 'Thrust Generating Part' and the 'Fuselage Part', can directly control the relative attitude between the two parts using the novel servomechanism. By utilizing the servomechanism with the proposed relative attitude control strategy, the T³-multirotor with cargo attached to the fuselage part can behave as a multi-rotor with only the moment of inertia of the thrust generating part during entire transportation. This allows the T³-multirotor to achieve the reliable performance in the event of any cargo being attached to the fuselage, achieving stable platform motion control. Detailed hardware description and dynamic analysis of T³-Multirotor is performed in this paper, and the validity of the proposed control strategy is also analyzed. The feasibility of the proposed control strategy is verified through experimental results with analysis.

Original language	English
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4168-4173
Number of pages	6
ISBN (Electronic)	9781538660263
DOIs	https://doi.org/10.1109/ICRA.2019.8794203
State	Published - May 2019
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	20/05/19 → 24/05/19

Access to Document

10.1109/ICRA.2019.8794203

Cite this

Lee, S. J., Lee, D., & Kim, H. J. (2019). Cargo transportation strategy using T³-multirotor UAV. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 4168-4173). Article 8794203 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794203

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title = "Cargo transportation strategy using T3-multirotor UAV",

abstract = "In this paper, we introduce a cargo transportation method with a new type of multi-rotor UAV platform known as T3-multirotor, to achieve stable and constant flight performance regardless of the type of cargo attached to the fuselage. The T3-multirotor, which consists of the 'Thrust Generating Part' and the 'Fuselage Part', can directly control the relative attitude between the two parts using the novel servomechanism. By utilizing the servomechanism with the proposed relative attitude control strategy, the T3-multirotor with cargo attached to the fuselage part can behave as a multi-rotor with only the moment of inertia of the thrust generating part during entire transportation. This allows the T3-multirotor to achieve the reliable performance in the event of any cargo being attached to the fuselage, achieving stable platform motion control. Detailed hardware description and dynamic analysis of T3-Multirotor is performed in this paper, and the validity of the proposed control strategy is also analyzed. The feasibility of the proposed control strategy is verified through experimental results with analysis.",

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Lee, SJ, Lee, D & Kim, HJ 2019, Cargo transportation strategy using T³-multirotor UAV. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8794203, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 4168-4173, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8794203

Cargo transportation strategy using T³-multirotor UAV. / Lee, Seung Jae; Lee, Dongjae; Kim, H. Jin.
2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 4168-4173 8794203 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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