Path Planning for Cooperative Aerial Load Transportation in Complex Environments

IF 4.4 3区 计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS
Peyman Abeshtan;Fariborz Saghafi
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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.
复杂环境下协同空运路径规划
本文提出了一种规划算法,该算法能够在第一阶段设计总体路径,在第二阶段确定在空间假设隧道(授权隧道)中被迫移动的协同负载运输系统的队形。该规划算法适用于包含不同形状和尺寸障碍物的多通道环境。确定了最优的队形,以处理非凸约束,如避障,agent之间的相互碰撞避免和最小摆动运动的索力允许范围。优化算法还考虑了系统动力学响应和控制器跟踪最优路径和队形的能力。提出了三种基于优化的路径规划方法:同时全路点、路点逐路点(WBW)和风险路点。结果表明,在复杂环境下,无外部或内部碰撞的狭窄通道中,WBW方法在调整地层形状方面表现出最佳性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
IEEE Systems Journal
IEEE Systems Journal 工程技术-电信学
CiteScore
9.80
自引率
6.80%
发文量
572
审稿时长
4.9 months
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.
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