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Real-time Optimal Planning and Model Predictive Control of a Multi-rotor with a Suspended Load
Cited 5 time in
Web of Science
Cited 7 time in Scopus
- Authors
- Issue Date
- 2019-05
- Publisher
- IEEE
- Citation
- 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp.5665-5671
- Abstract
- This paper presents planning and control algorithms for a multi-rotor with a suspended load. The suspended load cannot be controlled easily by the multi-rotor due to severe dynamic coupling between them. Difficulties are exacerbated by under-actuated, highly nonlinear nature of multi-rotor dynamics. Although many studies have been proposed to plan trajectories and control this system, there exist only a few reports on real-time trajectory generation. With this in mind, we propose a planning method which is capable of generating collision-free trajectories real-time and applicable to a high-dimensional nonlinear system. Using a differential flatness property, the system can be linearized entirely with elaborately chosen flat outputs. Convexification of non-convex constraints is carried out, and concave obstacle-avoidance constraints are converted to convex ones. After that, a convex optimization problem is solved to generate an optimal trajectory, but semi-feasible trajectory which considers only some parts of the initial state. We apply model predictive control with a sequential linear quadratic solver to compute a feasible collision-free trajectory and to control the system. Performance of the algorithm is validated by flight experiment.
- ISSN
- 1050-4729
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