This paper explores the use of Particle Swarm Optimization (PSO) and an improved artificial potential field for optimal path planning in aerial load transportation. The study designs a hierarchical optimal control system for a quadrotor equipped with a cable-suspended payload. The system navigates through obstacles by determining the shortest path for a virtual point, acting as a leader. The leader guides the system toward the target point while avoiding collisions. The gravitational and repulsion coefficient forces using various PSO methods are fine-tuned to achieve the best trajectory and minimize time duration. The study presents numerical results to demonstrate successful payload transportation.
Publication date: 20 Nov 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2311.10675
