两旋翼无人机协同悬吊绳索穿越狭小空间，实现高效路径规划。
Combined Aerial Cooperative Tethered Carrying and Path Planning for Quadrotors in Confined Environments
- 通过简化系统自由度，用紧凑状态表达无人机-绳索组合体
- 构建动态实体模型，提升与障碍物碰撞检测效率
- 结合RRT算法与模型预测控制，实测验证路径可行性
本文提出一种新型协同空中悬吊与路径规划框架，专用于狭小环境下的双旋翼无人机任务。针对两架无人机通过绳索悬吊负载并绕过障碍物的场景，设计了一种新组合机制，有效降低系统自由度，并以紧凑形式表达整体状态。基于该状态，生成一个包含无人机-绳索系统的动态实体，显著提升与环境间碰撞检测的效率。在此基础上，采用RRT算法生成无碰撞路径，并将路径解耦为各无人机期望位置，输入到模型预测控制器（MPC）中进行实时控制。实验结果验证了该框架的有效性与实用性。
原文摘要 · Abstract (English)
In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning problem for the formation of two quadrotors, while having a rope hanging below them and passing through or around obstacles. A novel composition mechanism is proposed, which simplifies the degrees of freedom of the combined aerial system and expresses the corresponding states in a compact form. Given the state of the composition, a dynamic body is generated that encapsulates the quadrotors-rope system and makes the procedure of collision checking between the system and the environment more efficient. By utilizing the above two abstractions, an RRT path planning scheme is implemented and a collision-free path for the formation is generated. This path is decomposed back to the quadrotors' desired positions that are fed to the Model Predictive Controller (MPC) for each one. The efficiency of the proposed framework is experimentally evaluated.
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