AutoTrans: 自律UAVによる吊り下げペイロード輸送のための計画・制御フレームワーク
AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportation
吊り下げ型ペイロードを搭載したUAVの完全自律輸送を実現するため、全身の安全性と動的実現可能性を考慮したリアルタイム軌道計画法と、階層的擾乱補償を備えた適応NMPCを提案した。
著者: Haojia Li, Haokun Wang, Chen Feng, Fei Gao, Boyu Zhou, Shaojie Shen
分類: cs.RO
原文アブストラクト
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great challenges in planning and control. To realize fully autonomous aerial transportation, this paper presents a systematic solution to address these difficulties. First, we present a real-time planning method that generates smooth trajectories considering the time-varying shape and non-linear dynamics of the system, ensuring whole-body safety and dynamic feasibility. Additionally, an adaptive NMPC with a hierarchical disturbance compensation strategy is designed to overcome unknown external perturbations and inaccurate model parameters. Extensive experiments show that our method is capable of generating high-quality trajectories online, even in highly constrained environments, and tracking aggressive flight trajectories accurately, even under significant uncertainty. We plan to release our code to benefit the community.
