In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit the performance of UAVs and facilitate the speed of operation. Simulations are conducted to validate the algorithm to achieve fast and safe manipulation of the pose of a rigid-body payload using multiple UAVs. We demonstrate that the computational time of the proposed method is sufficiently small (<100 ms) for UAV teams composed by up to 10 units, which makes it suitable for a huge variety of future industrial applications, such as autonomous building construction and heavy-load transportation.
翻译:在本研究中,我们提出了一种基于非线性模型预测控制的集中控制方法,以使多个无人机通过电缆控制物体的全姿态。据作者的最佳了解,这是第一种考虑了负载-无人机系统的全部非线性模型,并确保了所有可行性约束的方法,包括无人机最大最小推力、无人机之间的碰撞规避、电缆和负载的张力和最大张力。通过考虑以上因素,所提出的控制算法可以充分利用UAV的性能,提高操作速度。进行模拟以验证该算法在多个UAV的帮助下实现快速和安全的刚体负载姿态操作。我们证明,该方法的计算时间对于由多达10个单位组成的无人机团队非常短(<100 ms),因此适用于各种未来的工业应用,例如自动建筑施工和重载运输。