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. The key point of this problem is that payload angle must be kept in a specific boundary while quadrotor is in the specified space. As the first step to solve the problem, a dynamic model of the quadrotor with a payload is obtained by applying the Euler-Lagrange equation of motion. Then the system model was designed, linearized and discretized to generate optimal trajectory based on dynamic programming method. The trajectories generated by the proposed method were verified in simulations with a PID control. From the simulation results, it is concluded that the quadrotor with a cable suspended payload can fly through the specific narrow space and arrive at a desired point with linearized system model.