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Paper WeB210.2

Palunko, Ivana (University of New Mexico), Fierro, Rafael (University of New Mexico), Cruz, Patricio (Univeristy of New Mexico)

Trajectory Generation for Swing-Free Maneuvers of a Quadrotor with Suspended Payload: A Dynamic Programming Approach

Scheduled for presentation during the Interactive Session "Interactive Session WeB-2" (WeB210), Wednesday, May 16, 2012, 11:00−11:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Aerial Robotics, Motion and Path Planning, Autonomous Agents

Abstract

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.

 

 

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