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Real-time Optimal Planning and Model Predictive Control of a Multi-rotor with a Suspended Load
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Son, Clark Youngdong | - |
dc.contributor.author | Jang, Dohyun | - |
dc.contributor.author | Seo, Hoseong | - |
dc.contributor.author | Kim, Taewan | - |
dc.contributor.author | Lee, HyeonBeom | - |
dc.contributor.author | Kim, H. Jin | - |
dc.date.accessioned | 2022-11-22T08:39:46Z | - |
dc.date.available | 2022-11-22T08:39:46Z | - |
dc.date.created | 2022-10-20 | - |
dc.date.issued | 2019-05 | - |
dc.identifier.citation | 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp.5665-5671 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | https://hdl.handle.net/10371/187144 | - |
dc.description.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. | - |
dc.language | 영어 | - |
dc.publisher | IEEE | - |
dc.title | Real-time Optimal Planning and Model Predictive Control of a Multi-rotor with a Suspended Load | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/ICRA.2019.8793674 | - |
dc.citation.journaltitle | 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | - |
dc.identifier.wosid | 000494942304024 | - |
dc.identifier.scopusid | 2-s2.0-85071480666 | - |
dc.citation.endpage | 5671 | - |
dc.citation.startpage | 5665 | - |
dc.description.isOpenAccess | N | - |
dc.contributor.affiliatedAuthor | Kim, Taewan | - |
dc.type.docType | Proceedings Paper | - |
dc.description.journalClass | 1 | - |
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