2023/11/17 by Ali Akbar Rezaei Lori, Lori, Ali Akbar Rezaei
Computer Science · Engineering · #Robotic Path Planning Algorithms #Control and Dynamics of Mobile Robots #Aerospace Engineering and Control Systems
paper · pdf · doi:10.48550/arxiv.2311.10675
In this article, we investigate the optimal path planning for aerial load transportation in complex, dynamic, and static environments using Particle Swarm Optimization (PSO). A hierarchical optimal control system is designed for a quadrotor equipped with a cable-suspended payload, employing Euler-Lagrange equations of motion. To navigate through obstacles, an improved artificial potential field combined with the PSO algorithm is used to determine the shortest path for a virtual point, acting as a leader. This leader guides the system toward the target point while avoiding collisions with both fixed and moving obstacles. The gravitational and repulsion coefficient forces using various PSO methods are fine-tuned to achieve the best trajectory and minimize time duration. The identified point serves as the desired location for quadrotor position control, based on a sliding mode strategy. Finally, we present numerical results to demonstrate the successful transportation of the payload by the system.