{"title":"Path Planning for Cooperative Aerial Load Transportation in Complex Environments","authors":"Peyman Abeshtan;Fariborz Saghafi","doi":"10.1109/JSYST.2025.3547065","DOIUrl":null,"url":null,"abstract":"In this article, a planning algorithm is presented, which is capable to design an overall path in the first stage and determine the formation shape of a cooperative load transportation system forced to move in a spatial hypothetical tunnel (an authorized tunnel), in the second stage. The planning algorithm works in multipassages environment containing obstacles with different shapes and dimensions. The shape of the formation is determined optimally to handle nonconvex constraints like obstacle avoidance, intercollision avoidance between agents and allowable range of cable forces for minimal swing motion. The optimization algorithm also considers the response of the system dynamics and ability of controllers in tracking the optimal path and formation shape. Three types of optimization-based path planning methods are presented called simultaneously all waypoints, waypoint by waypoint (WBW), and waypoints in risk. It is shown that the WBW method presents the best performance in terms of adjustment of the formation shape for passing through narrow passages in complex environment without external or internal collision.","PeriodicalId":55017,"journal":{"name":"IEEE Systems Journal","volume":"19 2","pages":"565-576"},"PeriodicalIF":4.4000,"publicationDate":"2025-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Systems Journal","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10937244/","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, INFORMATION SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
In this article, a planning algorithm is presented, which is capable to design an overall path in the first stage and determine the formation shape of a cooperative load transportation system forced to move in a spatial hypothetical tunnel (an authorized tunnel), in the second stage. The planning algorithm works in multipassages environment containing obstacles with different shapes and dimensions. The shape of the formation is determined optimally to handle nonconvex constraints like obstacle avoidance, intercollision avoidance between agents and allowable range of cable forces for minimal swing motion. The optimization algorithm also considers the response of the system dynamics and ability of controllers in tracking the optimal path and formation shape. Three types of optimization-based path planning methods are presented called simultaneously all waypoints, waypoint by waypoint (WBW), and waypoints in risk. It is shown that the WBW method presents the best performance in terms of adjustment of the formation shape for passing through narrow passages in complex environment without external or internal collision.
期刊介绍:
This publication provides a systems-level, focused forum for application-oriented manuscripts that address complex systems and system-of-systems of national and global significance. It intends to encourage and facilitate cooperation and interaction among IEEE Societies with systems-level and systems engineering interest, and to attract non-IEEE contributors and readers from around the globe. Our IEEE Systems Council job is to address issues in new ways that are not solvable in the domains of the existing IEEE or other societies or global organizations. These problems do not fit within traditional hierarchical boundaries. For example, disaster response such as that triggered by Hurricane Katrina, tsunamis, or current volcanic eruptions is not solvable by pure engineering solutions. We need to think about changing and enlarging the paradigm to include systems issues.