Motion Planning and Control of Two Quadcopters with Cable-Suspended Point Mass Payload

Considering the low payload carrying capacity for a single quadcopter, one option to increase the payload carrying capacity is the use of more than one quadcopter.This work focuses on trajectory planning and control of two quadcopters with a cable-suspended point mass payload system using a leader–follower scheme.For safe and stable transportation of suspended payload, the quadcopters should be controlled to not lead to cable slackness.Accordingly, wrench closure analysis is carried out for the follower quadcopter with respect to the leader quadcopter, which helps design desired trajectory generation for the quadcopters.The performance of the proposed motion planning strategy is verified by conducting simulation in SIMSCAPE multibody package in MATLAB.