Abstract
Aerial load transport by Unmanned Aerial Vehicles (UAVs) can be performed either using a single UAV or using a group of cooperative UAVs. The latter option is assumed more reliable, yet more demanding regarding the control and required power, than the former one. This article theoretically evaluates power consumption for aerial load transport by the use of two UAVs and compares it with the power consumption in case of a single UAV. In all treated cases, we assume a stationary level flight. For the stated comparison the theoretical model for aerial load transport by two identical UAVs is formulated. Generic flight characteristics and UAVs characteristics are prescribed, and corresponding solutions of the model evaluated. Independent parameters of the model are masses of the UAVs and the load, as well as flight velocity. Variables in the model are vertical and horizontal distances between the UAVs. The emphasis is put on the available instantaneous power and sensitivity to occasional wind gusts. We extract intervals of the model parameters for which each of the two UAVs is less loaded than a UAV which solitary carries a load. The sensitivity to wind gusts is lesser in configurations in which one UAV carries most of the load while the other provides the additionally needed instantaneous power.
Highlights
The aerial load transport by the Unmanned Aerial Vehicles (UAVs) for civilian purposes has been conducted occasionally
There are no systematic approaches to characterisation of required power, energy consumption, stability, robustness and the overall capability of the group of UAVs utilised for cooperative aerial load transport
The wind gusts are taken implicitly in the sense that we find out the geometries formed by relative positions of the UAVs and the load during flight, which are the most robust to occasional external influence, the wind gusts
Summary
The aerial load transport by the Unmanned Aerial Vehicles (UAVs) for civilian purposes has been conducted occasionally. We focus onto more detailed representation of the UAVs, which cannot be directly related to transport by other types of vehicles Aerial observation is another application of a group of UAVs. The authors in [3] compared a group of cooperative UAVs with a group of independent UAVs using simulated ground target detection. In [8] the authors analyse the flight stability and control in case of single UAV load transport. In the aerial load transport, the use of a single UAV is simpler for flight planning and control. The group, in principle, could be formed using simpler, cheaper UAVs. Yet, there are no systematic approaches to characterisation of required power, energy consumption, stability, robustness and the overall capability of the group of UAVs utilised for cooperative aerial load transport.
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