Differential Flatness based Direct Collocation for a Quadrotor with a Cable-Suspended Payload
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. 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 demonstrate experimental validation of our approach on a variety of tasks that include navigation through waypoints and obstacle avoidance.
This work was supported in part by NSF Grant CMMI-1840219 and in part by Berkeley Deep Drive.
Видео Differential Flatness based Direct Collocation for a Quadrotor with a Cable-Suspended Payload канала Hybrid Robotics
This work was supported in part by NSF Grant CMMI-1840219 and in part by Berkeley Deep Drive.
Видео Differential Flatness based Direct Collocation for a Quadrotor with a Cable-Suspended Payload канала Hybrid Robotics
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