Time-optimal Planning for the Quadrotor Transportation System Landing a Payload on the Mobile Platform
Xiao Liang, Jinjiang Gao, Jianda Han · 2021
Nowadays, aerial transportation has been widely used in various aspects, such as fire fighting, life-rescue, emergency-supplies delivery, and etc. Existing works for quadrotor transportation systems concentrate on the objectives of quadrotor positioning and payload swing suppression. Nevertheless, the process to land the payload onto a mobile platform is seldom discussed. In this paper, a time-optimal trajectory generation algorithm for unmanned quadrotor transportation system is proposed with effective quadrotor positioning, payload antiswing and landing performance. Specifically, the system model is discretized and various constraints are included to guarantee safe transportation, based on which, a nonlinear programming problem is constructed and solved. Finally, a series of simulation tests are implemented to verify the effectiveness of the proposed trajectory generation method.