Real-Time Optimal Trajectory Generation and Control of a Multi-Rotor With a Suspended Load for Obstacle Avoidance

摘要

This letter presents real-time optimization algorithms on trajectory generation and control for a multi-rotor with a suspended load. Since the load is suspended through a cable without any actuator, movement of the load must be controlled via maneuvers of the multi-rotor, which brings about difficulties in operating this system. Additionally, the highly nonlinear dynamics of the system exacerbates the difficulties. While trajectory generation and control are essential for safety, energy efficiency, and stability, the aforementioned characteristics of the system add challenges. With this in mind, the authors propose real-time path planning and optimal control algorithms for collision-free trajectory generation and trajectory tracking. For the dynamics, simplified dynamic models of the system are proposed by considering time delay in attitude control of the multi-rotor. For collision avoidance, the vehicle, cable, and load are considered as ellipsoids with different sizes and shapes, and collision-free constraints are expressed in an efficient and nonconservative way. The augmented Lagrangian method is applied to solve the nonlinear optimization problem with the nonlinear constraints in real-time. For control of the system, model predictive control with a sequential linear quadratic solver is used. Several simulations and experiments are conducted to validate the proposed algorithm.