Optimal Trajectory Generation for Quadrotor with Suspended Load Under Swing Angle Constraint

Abstract

In this paper, optimal trajectory generation for a quadrotor with a cable-suspended payload is suggested with consideration to a narrow space. This problem has great significance in practical UAV applications, but it has not been given attention in previous literatures. The key point of this problem is that payload angle must be kept in a specific boundary while quadrotor is in the specified space. To solve the problem, a mathematical model of the quadrotor-payload system is presented by applying the Euler-Lagrange formulation firstly. Then the system was discretized and was designed to generate optimal trajectory based on dynamic programming method. A trajectory generated by the proposed method was verified with a PID control simulation. From the result of the simulation, it is concluded that the quadrotor with a cable suspended payload can fly through the specific narrow space and arrive at a desired point without collision.