Trajectory Generation for Swing-Free Maneuvers of a Quadrotor with

《Trajectory Generation for Swing-Free Maneuvers of a Quadrotor with》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、TrajectoryGenerationforSwing-FreeManeuversofaQuadrotorwithSuspendedPayload:ADynamicProgrammingApproachIvanaPalunko,RafaelFierro,andPatricioCruzAbstract—Inthispaper,weaddresstheproblemofagileswing-freetrajectorytrackingofaquadrotorwithasuspendedload.Thisproblemhasgreatpracticalsignificance

2、inmanyUAVapplications.However,ithasreceivedlittleattentionintheliteraturesofar.Flyingwithasuspendedloadcanbeaverychallengingandsometimeshazardoustaskasthesuspendedloadsignificantlyalterstheflightcharacteristicsofthequadrotor.Inordertodealwiththisproblem,weproposeatechniquebasedondynamicpro

3、grammingwhichensuresswing-freetrajectorytracking.Westartbypresentingthemathematicalmodelofaquadrotorwithsuspendedloaddynamicsandkinematics.Ahigh-levelplannerisusedtoprovidedesiredwaypoints,andthenadynamicprogrammingapproachisusedtogeneratetheswing-freetrajectoryforthequadrotorcarryingasu

4、spendedload.Effectivenessofthismethodisdemonstratedbynumericalsimulationsandexperiments.Fig.1.Quadrotorwithsuspendedload.I.INTRODUCTIONUnmannedaerialvehiclesareincreasinglybeingconsid-eredasmeansofperformingcomplexfunctionsorassistingin[10],[11],[12],[13],[14].Thetechniquechosentosolvehu

5、mansincarryingoutdangerousmissionswithindynamictheproblemofswing-freetrajectorytrackingisbasedonenvironments.Possibleapplicationsincludesearchandres-dynamicprogramming.Theproposedtechniqueisanopen-cue,disasterreliefoperations,environmentalmonitoring,loopmethodusedtogeneratetheoptimaltraj

6、ectorywhichwirelesssurveillancenetworks,andcooperativemanipula-willenabletheswing-freeflightofthequadrotorcarryingtion.Dealingwiththesetypesofautonomousvehiclesplacesasuspendedload.Ahigh-levelplannerisusedtoprovideseveredemandsonthedesignofcontrolschemesthatcandesiredwaypoints,andthentheo

7、ptimalswing-freetrajectoryadapttodifferentscenariosandpossiblechangesofvehicleisgenerated.dynamics.Thepaperisorganizedasfollows.SectionIIpresentstheQuadrotorhelicoptershavebecomeincreasinglypopularmodelofasuspendedload.InSectionIIIwedescribetheasunmannedaerialvehicle(UAV)