engleski

Cooperative Cargo Transfer by Drones: Sensitivity Analysis of Drones Thrust Forces for the Class of Geometries of Equal Loads

Unmanned aerial vehicles (UAV), i.e., drones, are used for delivering and transport different types of cargo. For cargo delivery without landing, suitable is a model of cooperative cargo transfer by drones, in which the cargo is linked to the drones with non-extensible ropes. The carried cargo is connected with each of the drone by one rope. The ropes are of equal length and negligible mass. UAVs and cargo are shown as material points in space. The forces, in this model, are shown as the forces acting at these material points. The reference position in the coordinate system is the position where the drones are axisymmetrically in relation to the direction of flight, at equal altitudes, and the cargo is in between of them. Such geometric configuration is described by the angles between the coordinate axes and the action directions of the model forces. The system moves at a constant speed in an uncharacterized environment, and it is sensitive to the impact from the external environment. For example, sudden gusts of wind can change the reference geometric configuration and disrupt flight stability. A change in the geometric configuration of the model leads to a change in the amount of a drone thrust forces. Unevenly consuming batteries impairs flight stability and safe cargo delivery. For a stable model, it is assumed that the load of the drones is equal. The load factor, defined specifically for this physical model, is described by geometry parameters, i.e., the angles that describe the model. The equal load of drones is achieved not only for the desired, reference flight mode, but also for different geometric configurations that deviate from the reference position. For that reason, it is possible to talk about the class of geometries of equal loads of drones. The sensitivity of the thrust forces of drones, to small changes of model angles, is different for different geometric configurations.

unmanned aerial vehicles, drones, static sensitivity, sensitivity analysis, load factor

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