Self-Triggered Based Coordinate Control with Low Communication for Tethered Multi-UAV Collaborative Transportation

Xiaozhen Zhang, Fan Zhang, Panfeng Huang, Jiale Gao, Hang Yu, Chongxu Pei, Yizhai Zhang

Research output: Contribution to journalArticlepeer-review

39 Scopus citations

Abstract

In this letter, a self-triggered based coordinate control scheme with low communication requirements is investigated for a team of unmanned aerial vehicles (UAVs) collaboratively transporting a suspended payload. In most existing research on collaborative transportation, the limited communication ability of physical devices has rarely been studied. Hence, this letter suggests a self-triggered cooperative path-following coordinate control scheme for UAVs traveling along a given desired path and synchronously carrying out transportation mission. It is proven that the proposed coordinate control scheme can make communication discrete, thereby significantly reducing the amount of communication. The results of outdoor experiments verify the feasibility of the proposed strategy, and low-frequency communication is demonstrated.

Original languageEnglish
Article number9347675
Pages (from-to)1559-1566
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume6
Issue number2
DOIs
StatePublished - Apr 2021

Keywords

  • Aerial systems: applications
  • field robots
  • intelligent transportation systems
  • multi-robot systems

Fingerprint

Dive into the research topics of 'Self-Triggered Based Coordinate Control with Low Communication for Tethered Multi-UAV Collaborative Transportation'. Together they form a unique fingerprint.

Cite this