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Load-Swing Attenuation in a Quadcopter-Payload System Through Trajectory Optimisation.

Barry Feng1, Arash Khatamianfar1

  • 1School of Electrical Engineering and Telecommunications, UNSW Sydney, Sydney 2052, Australia.

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Summary
This summary is machine-generated.

This study enhances quadcopter delivery by improving package collection and stability. A visual servoing system and a novel control scheme reduce payload oscillations for more reliable autonomous operations.

Keywords:
CUDA-accelerated tag detectionload-swing attenuationquadcoptertime-varying LQRtrajectory optimizationvisual servoing

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Area of Science:

  • Robotics
  • Control Systems
  • Computer Vision

Background:

  • Multirotor quadcopters are increasingly used for last-mile delivery.
  • Battery limitations restrict their range for extended deliveries.
  • Payload arm dynamics can cause instability during package collection.

Purpose of the Study:

  • To improve quadcopter capabilities for extended-distance delivery.
  • To develop a robust package collection mechanism for quadcopters.
  • To enhance the stability of quadcopters during payload manipulation.

Main Methods:

  • Implemented a CUDA-accelerated tag detection algorithm for real-time pose estimation.
  • Developed a control scheme to attenuate load-swing in a payload arm.
  • Utilized a non-linear control strategy to manage center of mass shifts and residual energy.
  • Validated the visual servoing and load-swing attenuation through simulations and physical quadcopter implementation.

Main Results:

  • The visual servoing approach achieved real-time pose estimation.
  • The control scheme effectively attenuated aggressive load-swing.
  • The non-linear control scheme addressed instability caused by payload motion.
  • Both methods demonstrated successful performance in simulations and physical tests.

Conclusions:

  • The proposed visual servoing and control strategies enhance quadcopter performance for delivery applications.
  • These advancements address key challenges in autonomous package collection and stable flight.
  • The research contributes to the feasibility of using quadcopters for more demanding delivery tasks.