Naslov
Trajectory generation for swing-free maneuvers of a quadrotor with suspended payload: A dynamic programming approach

Autori
Palunko, Ivana ; Fierro, Rafael ; Cruz, Patricio

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2012 / - , 2012, 2691-2697

Skup
IEEE International Conference on Robotics and Automation (ICRA), 2012

Mjesto i datum
Saint Paul (MN), Sjedinjene Američke Države, 14.05.2012. - 18.05.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
autonomous aerial vehicles; dynamic programming; helicopters; numerical analysis; trajectory control; vehicle dynamics

Sažetak
In this paper, we address the problem of agile swing-free trajectory tracking of a quadrotor with a suspended load. This problem has great practical significance in many UAV applications. However, it has received little attention in the literature so far. Flying with a suspended load can be a very challenging and sometimes hazardous task as the suspended load significantly alters the flight characteristics of the quadrotor. In order to deal with this problem, we propose a technique based on dynamic programming which ensures swing-free trajectory tracking. We start by presenting the mathematical model of a quadrotor with suspended load dynamics and kinematics. A high-level planner is used to provide desired waypoints, and then a dynamic programming approach is used to generate the swing-free trajectory for the quadrotor carrying a suspended load. Effectiveness of this method is demonstrated by numerical simulations and experiments.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Zrakoplovstvo, raketna i svemirska tehnika

POVEZANOST RADA