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This paper presents a differential-flatness-based approach for generating smooth trajectories of multi-quadrotor transportation systems. Specifically, it establishes the multi-constraint dynamics of the system, wherein a rigid body payload is suspended by multiple quadrotors via cables, using the Newton-Euler method. Subsequently, the paper analyzes the system's characteristics of differential flatness and proposes a trajectory generation method based on fifth-order polynomials. Simulation results demonstrate that the proposed approach guarantees payload stability during the initiation and cessation phases of transportation.

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Differential-Flatness Based Smooth Trajectory Generation for Multi-Quadrotors Transportation Systems

  • 会议论文

  • 发表日期：

    2025年

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  • Yuan Ping,
  • Juntong Qi,
  • Mingming Wang,
  • Chong Wu

摘要

This paper presents a differential-flatness-based approach for generating smooth trajectories of multi-quadrotor transportation systems. Specifically, it establishes the multi-constraint dynamics of the system, wherein a rigid body payload is suspended by multiple quadrotors via cables, using the Newton-Euler method. Subsequently, the paper analyzes the system's characteristics of differential flatness and proposes a trajectory generation method based on fifth-order polynomials. Simulation results demonstrate that the proposed approach guarantees payload stability during the initiation and cessation phases of transportation.