多旋翼协同搬运时用控制屏障函数确保避障与稳定
Optimal Trajectory Planning for Cooperative Manipulation with Multiple Quadrotors Using Control Barrier Functions
- 用控制屏障函数保证多旋翼系统在六自由度下的安全飞行
- 通过凸多面体建模和对偶定理降低优化计算复杂度
- 适用于真实场景中带缆悬吊负载的协同运输任务
本文提出一种基于控制屏障函数（CBFs）的多旋翼协同搬运轨迹规划新算法。针对由多个旋翼机协同运输并操控悬挂在缆绳上的刚性负载，在障碍物密集环境中的复杂动力学问题，该方法实现了整个系统（包括旋翼机、缆绳和负载）在全部六自由度下的避障。通过将系统各部件建模为凸多面体，并利用对偶定理降低优化问题的计算复杂度，有效处理了非线性动力学约束。在仿真与真实环境中的多旋翼平台上验证了该方法，结果表明其能成功生成安全轨迹并实现可靠避障，适用于复杂的协同运输任务。
原文摘要 · Abstract (English)
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of quadrotors transports and manipulates a cable-suspended rigid-body payload in environments cluttered with obstacles. The proposed algorithm ensures obstacle avoidance for the entire system, including the quadrotors, cables, and the payload in all six degrees of freedom (DoF). We introduce the use of CBFs to enable safe and smooth maneuvers, effectively navigating through cluttered environments while accommodating the system's nonlinear dynamics. To simplify complex constraints, the system components are modeled as convex polytopes, and the Duality theorem is employed to reduce the computational complexity of the optimization problem. We validate the performance of our planning approach both in simulation and real-world environments using multiple quadrotors. The results demonstrate the effectiveness of the proposed approach in achieving obstacle avoidance and safe trajectory generation for cooperative transportation tasks.
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