This paper proposes an autonomous obstacle avoidance trajectory planning method of quadrotor-based flight suspension systems for anti-swing payload transportation. This paper analyzes the dynamics of the quadrotor-based flight suspension systems based on the Euler-Lagrange equation. B spline curves are designed to generate initial trajectories for the quadrotor, which can avoid known obstacles. Then, an angular coupling anti-swing term is designed and superimposed to the initial trajectory, so as to suppress payload swing during obstacle avoidance. A series of simulation results verify that the proposed method achieves satisfactory performance in obstacle avoidance and payload swing suppression from the trajectory planning level.
An Online Trajectory Planning Approach for Quadrotor Suspension Transportation Systems: Anti-swing and Obstacle Avoidance
08.12.2023
1756056 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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