Paper Info
Title
Differential Flatness Based Path Planning With Direct Collocation On Hybrid Modes For A Quadrotor With A Cable-Suspended Payload
Abstract
Generating agile maneuvers for a quadrotor with a cable-suspended load is a challenging problem. State-of-the-art approaches often need significant computation time and complex parameter tuning. We use a coordinate-free geometric formulation and exploit a differential flatness based hybrid model of a quadrotor with a cable-suspended payload. We perform direct collocation on the differentially-flat hybrid system, and use complementarity constraints to avoid specifying hybrid mode sequences. The non-differentiable obstacle avoidance constraints are reformulated using dual variables, resulting in smooth constraints. We show that our approach has lower computational time than the state-of-the-art and guarantees feasibility of the trajectory with respect to both the system dynamics and input constraints without the need to tune lots of parameters. We validate our approach on a variety of tasks in both simulations and experiments, including navigation through waypoints and obstacle avoidance.
Year
DOI
Venue
2020
10.1109/LRA.2020.2972845
IEEE ROBOTICS AND AUTOMATION LETTERS
Keywords
DocType
Volume
Aerial systems: applications, motion and path planning, optimization and optimal control
Journal
5
Issue
ISSN
Citations 
2
2377-3766
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Jun Zeng111.74
Prasanth Kotaru200.34
Mark W. Müller3528.72
Koushil Sreenath435833.41