Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload

Abstract

Generating agile maneuvers for a quadrotor with a cable-suspended load is a challenging problem. State-of-the-art approaches often need significant computation time and complex parameter tuning. We use a coordinate-free geometric formulation and exploit a differential flatness based hybrid model of a quadrotor with a cable-suspended payload. We perform direct collocation on the differentially-flat hybrid system, and use complementarity constraints to avoid specifying hybrid mode sequences. The non-differentiable obstacle avoidance constraints are reformulated using dual variables, resulting in smooth constraints. We show that our approach has lower computational time than the state-of-the-art and guarantees feasibility of the trajectory with respect to both the system dynamics and input constraints without the need to tune lots of parameters. We validate our approach on a variety of tasks in both simulations and experiments, including navigation through waypoints and obstacle avoidance.