狭所環境におけるクアッドロータの協調テザー搬送と経路計画の統合
Combined Aerial Cooperative Tethered Carrying and Path Planning for Quadrotors in Confined Environments
2機のクアッドロータがロープを吊り下げて障害物を回避しながら狭所を飛行するための、協調搬送と経路計画を統合したフレームワークを提案し、実験で有効性を示した。
著者: Marios-Nektarios Stamatopoulos, Panagiotis Koustoumpardis, Achilleas Santi Seisa, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning problem for the formation of two quadrotors, while having a rope hanging below them and passing through or around obstacles. A novel composition mechanism is proposed, which simplifies the degrees of freedom of the combined aerial system and expresses the corresponding states in a compact form. Given the state of the composition, a dynamic body is generated that encapsulates the quadrotors-rope system and makes the procedure of collision checking between the system and the environment more efficient. By utilizing the above two abstractions, an RRT path planning scheme is implemented and a collision-free path for the formation is generated. This path is decomposed back to the quadrotors' desired positions that are fed to the Model Predictive Controller (MPC) for each one. The efficiency of the proposed framework is experimentally evaluated.
