About this document
Wang 等 - 2024 - Impact-Aware Planning and Control for Aerial Robot by jdiianngg is a document available to read on EtoBox.
This document presents a novel impact-aware planning and control framework for quadrotors with suspended payloads, addressing the challenges of dual motion modes and potential impacts during mode switching. The proposed method utilizes an augmented Lagrangian approach to optimize trajectory feasibility while maintaining efficiency, and introduces a hybrid nonlinear model predictive control to manage model mismatches. Comprehensive simulations and experiments validate the effectiveness of the framework, mark
- Author
- jdiianngg
- Language
- EN