让无人机吊载物体时始终看得见、控得稳，靠的是新算法。
HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads
- 融合感知与控制的混合非线性预测控制，实时处理缆绳松紧切换
- 全程在机上运行，实现吊载物稳定跟踪，包括松紧转换瞬间
- 特别适合人机协同操作，确保负载始终在摄像头视野内
配备悬吊负载的四旋翼无人机是空中运输、建筑和操作任务中一种灵活、低成本且节能的解决方案。然而，其实际部署面临多重挑战：系统非线性、欠驱动，存在因缆绳松紧状态变化引起的混合动力学特性，且在复杂的配置空间中演化。此外，必须使用机载传感器和计算资源实时估计完整状态及缆绳模式转换。为此，本文提出一种新型的混合感知感知非线性模型预测控制（HPA-MPC）方法，用于带悬吊负载的四旋翼无人机。该方法考虑完整的混合系统动力学，并引入感知感知代价项，确保在导航过程中负载始终可见于机器人相机视野中。同时，利用机载传感器实时估计完整状态及混合动力学模式转换。实验结果表明，该方法可在整个飞行过程中实现稳定的负载跟踪控制，即使在松紧转换期间也保持稳定，且完全在机上运行。实验还显示，感知感知项有效确保了当人工操作负载时，负载始终处于机器人相机视场范围内。
原文摘要 · Abstract (English)
Quadrotors equipped with cable-suspended loads represent a versatile, low-cost, and energy efficient solution for aerial transportation, construction, and manipulation tasks. However, their real-world deployment is hindered by several challenges. The system is difficult to control because it is nonlinear, underactuated, involves hybrid dynamics due to slack-taut cable modes, and evolves on complex configuration spaces. Additionally, it is crucial to estimate the full state and the cable's mode transitions in real-time using on-board sensors and computation. To address these challenges, we present a novel Hybrid Perception-Aware Nonlinear Model Predictive Control (HPA-MPC) control approach for quadrotors with suspended loads. Our method considers the complete hybrid system dynamics and includes a perception-aware cost to ensure the payload remains visible in the robot's camera during navigation. Furthermore, the full state and hybrid dynamics' transitions are estimated using onboard sensors. Experimental results demonstrate that our approach enables stable load tracking control, even during slack-taut transitions, and operates entirely onboard. The experiments also show that the perception-aware term effectively keeps the payload in the robot's camera field of view when a human operator interacts with the load.
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