Pinto, Joao (Instituto Superior Técnico), Guerreiro, Bruno J. N. (NOVA School of Science and Technology), Cunha, Rita (Instituto Superior Técnico)

Planning Parcel Relay Manoeuvres for Quadrotors

Scheduled for presentation during the Regular Session "Path Planning I" (WeA3), Wednesday, June 16, 2021, 11:30−11:50, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 20, 2024

Abstract

In this paper, a strategy for planning aggressive collision-free parcel relay manoeuvres for quadrotors is proposed. The method relies on the generation of optimal polynomial trajectories with acceleration constraints in order to coordinate the attitude of the vehicles during the package exchange. The problem is formulated as a mixed-integer quadratic program where the integer constraints ensure collision avoidance. The manoeuvre is divided into three phases and the dynamical model of the robots is considered to ensure the vehicles keep a suitable relative orientation during the parcel transfer. Simulation results demonstrate the success of the presented strategy.