Optimum Configuration for Hovering n-Quadrotors carrying a Slung Payload

TL;DR

This paper introduces a geometric-based strategy and MATLAB tool for optimally arranging multiple quadrotors around a payload to achieve stable hovering, considering thrust limits and quadrotor sizes.

Contribution

It presents a novel geometric configuration method and an algorithm to determine the minimum number of quadrotors needed for payload hovering, validated through experiments and numerical examples.

Findings

Successful hovering tests confirm the method's efficiency.

Larger quadrotors require fewer units for payload support.

The algorithm adapts to thrust capacities and propeller distances.

Abstract

This work proposes a strategy for organising quadrotors around a payload to enable hovering without external stimuli, together with a MATLAB software for modelling the dynamics of a quadrotor-payload system. Based on geometric concepts, the proposed design keeps the payload and system centre of mass aligned. Hovering tests that are successful confirm the method's efficiency. Moreover, the algorithm is improved to take thrust capacities and propeller distances into account, calculating the minimum number of quadrotors needed for hovering. The algorithm's effectiveness is demonstrated by numerical examples, which reveal that larger quadrotors may require fewer units while smaller ones give greater flexibility. Our code can be found at: \href{https://github.com/Hosnooo/Swarm-Slung-Payload}{https://github.com/Hosnooo/Swarm-Slung-Payload}