多无人机协同吊运负载，通过虚拟管道实现高效避障与稳定控制
Virtual-Tube-Based Cooperative Transport Control for Multi-UAV Systems in Constrained Environments
- 基于虚拟管道与耗散系统理论，动态调整无人机布局以适应障碍物
- 低计算开销下实现负载张力均衡与协同运输，仿真验证可扩展至大规模系统
- 户外实验成功验证实用性，适合复杂环境下的多机协同任务
本文提出一种新型控制框架，用于在受限环境中多架无人飞行器（UAV）协同吊运缆绳悬挂负载。该框架结合虚拟管道理论与耗散系统理论，实现高效多机协作，适用于障碍物密集区域。所提方法具备多项优势：(1) 在低计算开销下实现无人机-缆绳-负载系统的张力分配与协同运输，能根据障碍物布局动态调整无人机配置，提升导航效率；(2) 引入耗散系统理论，确保系统高稳定性与鲁棒性，满足复杂多机操作需求。通过大量仿真验证了方法的可扩展性，支持大规模多无人机系统。此外，方法在室外场景中进行了实验验证，展示了其在真实条件下实际可行性和强鲁棒性。
原文摘要 · Abstract (English)
This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from dissipative systems theory, the framework facilitates efficient multi-UAV collaboration for navigating obstacle-rich areas. The proposed framework offers several key advantages. (1) It achieves tension distribution and coordinated transportation within the UAV-cable-load system with low computational overhead, dynamically adapting UAV configurations based on obstacle layouts to facilitate efficient navigation. (2) By integrating dissipative systems theory, the framework ensures high stability and robustness, essential for complex multi-UAV operations. The effectiveness of the proposed approach is validated through extensive simulations, demonstrating its scalability for large-scale multi-UAV systems. Furthermore, the method is experimentally validated in outdoor scenarios, showcasing its practical feasibility and robustness under real-world conditions.
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