用抛物线近似悬链线，高效计算无人机-地面车悬绳状态
Efficient variable-length hanging tether parameterization for marsupial robot planning in 3D environments
- 用抛物线替代复杂悬链线模型，实现快速状态计算
- 避免碰撞的参数化方法，支持三维环境路径规划
- 适合需要实时协同规划的空地机器人系统
本文提出一种新方法，用于高效参数化和估计连接无人机与地面车的悬吊缆绳状态，以实现马袋式构型下三维环境中的路径与轨迹规划。现有方法通常假设缆绳拉紧或采用悬链线建模，但悬链线计算复杂，需在规划中实例化数千次，耗时严重；而拉紧假设则过度限制平台运动自由度。为此，本文利用悬链线与抛物线的相似性，推导出缆绳状态的解析表达式，实现高效的缆绳状态计算与无碰撞参数化。
原文摘要 · Abstract (English)
This paper presents a novel approach to efficiently parameterize and estimate the state of a hanging tether for path and trajectory planning of a UGV tied to a UAV in a marsupial configuration. Most implementations in the state of the art assume a taut tether or make use of the catenary curve to model the shape of the hanging tether. The catenary model is complex to compute and must be instantiated thousands of times during the planning process, becoming a time-consuming task, while the taut tether assumption simplifies the problem, but might overly restrict the movement of the platforms. In order to accelerate the planning process, this paper proposes defining an analytical model to efficiently compute the hanging tether state, and a method to get a tether state parameterization free of collisions. We exploit the existing similarity between the catenary and parabola curves to derive analytical expressions of the tether state.
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