AFD-CAMLs: ケーブル吊り下げ型空中マルチリフトシステムのための俊敏な力分布を考慮した計画と制御
AFD-CAMLs: Agile Force-Distribution-Aware Planning and Control for Cable-Suspended Aerial Multi-Lifting Systems
複数のドローンで吊り下げ輸送する際の張力配分を改善するため、計画と制御を統合した枠組みを提案し、4〜10機の実験で俊敏性を保ちつつ張力の均等化を実現した。
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著者: Antreas Kourris, Sihao Sun
分類: cs.RO
原文アブストラクト
Multiple UAVs can cooperatively transport heavy payloads while controlling their position and orientation. Trajectory-based methods offer high agility while satisfying system constraints, but can produce uneven force distributions when the tension-to-wrench allocation is redundant or ill-conditioned, particularly under geometric mismatch and low-level tracking errors. We propose a hybrid planning-and-control framework to address this problem. A global planner generates payload trajectories and cable-force references by exploring the allocation null space under a prescribed internal-force setting. These references augment the cost of a centralized local planner, promoting feasible force distributions while generating trajectories for all UAVs. An admittance filter then compares the planned forces with onboard cable-tension estimates and adjusts the kinematic references to improve force tracking in degenerate or near-degenerate configurations. Simulations and experiments involving four to ten UAVs demonstrate more balanced tension distributions during both hovering and demanding agile maneuvers, without compromising agility or payload-tracking performance.