Longitudinal Slung-Load Guidance for Autonomous Rotorcraft Using Rapidly-Exploring Random Trees

摘要

A novel approach to providing guidance for helicopters with under-slung loads is presented. RapidlyexploringrnRandom Trees are adapted to plan trajectories for simplified helicopter-load models. Thernalgorithm is presented with a task to place a load in a specific location at a moment when the load isrnmotionless, mimicing the actions of helicopter-based Christmas tree harvesting. The solutions provided byrnthe RRT method vary in aggressiveness and precision, and are not ready for live implementation, but showrnpromise in future development of this approach.