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.


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    Titel :

    An Online Trajectory Planning Approach for Quadrotor Suspension Transportation Systems: Anti-swing and Obstacle Avoidance


    Beteiligte:
    Wu, Yiming (Autor:in) / Zhao, Cheng (Autor:in) / Zhang, Qi (Autor:in)


    Erscheinungsdatum :

    08.12.2023


    Format / Umfang :

    1756056 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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