障害物環境下でケーブル吊り下げペイロードを運ぶマルチロータ群の運動力学プランニング
Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments
複数のドローンがケーブルで吊り下げた荷物を障害物環境で運ぶため、全ダイナミクスを考慮した階層的な運動計画手法を提案し、実機実験で有効性を示した。
著者: Khaled Wahba, Joaquim Ortiz-Haro, Marc Toussaint, Wolfgang Hönig
分類: cs.RO, cs.MA
原文アブストラクト
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinodynamic, i.e., it considers the full dynamics model of the transporting system including actuation constraints. Due to the high dimensionality of the planning problem, we use a hierarchical approach where we first solve the geometric motion planning using a sampling-based method with a novel sampler, followed by constrained trajectory optimization that considers the full dynamics of the system. Both planning stages consider inter-robot and robot/obstacle collisions. We demonstrate in a software-in-the-loop simulation and real flight experiments that there is a significant benefit in kinodynamic motion planning for such payload transport systems with respect to payload tracking error and energy consumption compared to the standard methods of planning for the payload alone. Notably, we observe a significantly higher success rate in scenarios where the team formation changes are needed to move through tight spaces.
