Experimental platform

A flexible connection between the quadrotor and the payload is realized by mounting an actuator beneath the fuselage, so as to achieve simultaneous quadrotor positioning, payload swing elimination and hoisting/lowering.

Dual quadrotors work cooperatively to transport heavy cargos safely by fast motion planning and reasonable nonlinear control techniques, especially in complex environment.

Consider a quadrotor equipped with an onboard camera, online generation of trajectories with consideration of multiple constraints are carried out, so as to provide efficient transportation, while avoiding obstacles in the environment.