TY - GEN
T1 - Trajectory planning for collaborative transportation by tethered multi-UAVs
AU - Pei, Chongxu
AU - Zhang, Fan
AU - Huang, Panfeng
AU - Yu, Hang
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/15
Y1 - 2021/7/15
N2 - Collaborative transportation has been widely studied due to its high efficiency, and interesting research problems., specifically in trajectory planning. In this paper, a new trajectory planning scheme for collaborative transportation by tethered multi-UAVs is proposed to avoid obstacles. Firstly, the dynamics and configuration of the system is analyzed to derive the tethered force acting on each UAV, and define the angle between the rope and the vertical direction is calculated. Then the kinodynamic path search method is used to search an initial trajectory of the payload, and the initial trajectory of each UAV is solved. Finally, nonlinear optimization is used to optimize the trajectory of each UAV and the payload to achieve the effect of obstacle avoidance. Both numerical simulations and practical experiments are completed to verify the feasibility and effectiveness of the proposed planning scheme.
AB - Collaborative transportation has been widely studied due to its high efficiency, and interesting research problems., specifically in trajectory planning. In this paper, a new trajectory planning scheme for collaborative transportation by tethered multi-UAVs is proposed to avoid obstacles. Firstly, the dynamics and configuration of the system is analyzed to derive the tethered force acting on each UAV, and define the angle between the rope and the vertical direction is calculated. Then the kinodynamic path search method is used to search an initial trajectory of the payload, and the initial trajectory of each UAV is solved. Finally, nonlinear optimization is used to optimize the trajectory of each UAV and the payload to achieve the effect of obstacle avoidance. Both numerical simulations and practical experiments are completed to verify the feasibility and effectiveness of the proposed planning scheme.
UR - https://www.scopus.com/pages/publications/85115389520
U2 - 10.1109/RCAR52367.2021.9517336
DO - 10.1109/RCAR52367.2021.9517336
M3 - 会议稿件
AN - SCOPUS:85115389520
T3 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
SP - 769
EP - 775
BT - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Y2 - 15 July 2021 through 19 July 2021
ER -