ケーブル吊り下げ荷物の俊敏かつ協調的な空中マニピュレーション
Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load
複数のドローンがケーブルで吊った荷物を、動的結合を考慮した軌道計画と張力補償制御により、従来の8倍以上の加速度で俊敏に協調搬送する手法を実現した。
著者: Sihao Sun, Xuerui Wang, Dario Sanalitro, Antonio Franchi, Marco Tognon, Javier Alonso-Mora
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising solution. However, existing control algorithms for multi-lifting systems only enable low-speed and low-acceleration operations due to the complex dynamic coupling between quadrotors and the load, limiting their use in time-critical missions such as search and rescue. In this work, we present a solution to significantly enhance the agility of cable-suspended multi-lifting systems. Unlike traditional cascaded solutions, we introduce a trajectory-based framework that solves the whole-body kinodynamic motion planning problem online, accounting for the dynamic coupling effects and constraints between the quadrotors and the load. The planned trajectory is provided to the quadrotors as a reference in a receding-horizon fashion and is tracked by an onboard controller that observes and compensates for the cable tension. Real-world experiments demonstrate that our framework can achieve at least eight times greater acceleration than state-of-the-art methods to follow agile trajectories. Our method can even perform complex maneuvers such as flying through narrow passages at high speed. Additionally, it exhibits high robustness against load uncertainties and does not require adding any sensors to the load, demonstrating strong practicality.
