Aerial Load Transportation With Obstacle Avoidance in Observed Environment
Seyed Yaghoub Ashkoofaraz, Ali Akbar Rezaei Lori · 2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM) · 2022
In this article, the load transportation is investigated in an unknown environment with obstacles. A mathematics model of the system consists of a quadrotor and slung load is driven by Euler-Lagrange method so that the dynamic of cable is also considered. In here, the main control part is done by creating an imaginary leader according to the load position and velocity. Indeed, the created leader by the error of load location and velocity not only guide the system to transfer the load to its desired location directly by passing through unknown environment but also it avoids the collision of the system based on the artificial potential field strategy. Then, A sliding mode control is designed for quadrotor to follow the imaginary point which is created in previous control step as well as to cope with disturbances and load swings. Moreover, the asymptotically stability of position control step is proven by Lyapunov approach. Finally, the numerical results are presented to verify that appropriate performance of the system in the load transportation operation.