Determination of Anchor Points for Efficient Long Load Transportation using Multi-Rotor Aerial Vehicles

The transportation of long rod-like payload using multiple Multi-Rotor Aerial Vehicles (MRAVs) is analyzed to determine the ideal locations of the anchor points on the payload in order to improve the endurance of the system. The payload is modelled as a beam, with supports as the anchor points of the cable links between the payload and the MRAVs. The criterion for determining the ideal anchor point locations are laid. The proposed method is validated for different types of mass distributions and can be extended to any variation in payload mass distribution transported using multiple MRAVs. The proposed methodology is validated using Hector quadrotor in Gazebo environment.