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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    Title :

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


    Contributors:
    Wu, Yiming (author) / Zhao, Cheng (author) / Zhang, Qi (author)


    Publication date :

    2023-12-08


    Size :

    1756056 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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