首页|Researchers from Sun Yat-sen University Discuss Findings in Robotics (Impact-awa re Planning and Control for Aerial Robots With Suspended Payloads)
Researchers from Sun Yat-sen University Discuss Findings in Robotics (Impact-awa re Planning and Control for Aerial Robots With Suspended Payloads)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators discuss new findings in Robotics. According to news originating from Zhuhai, People's Republic of China, by NewsRx correspondents, research stated, "A quadrotor with a cablesuspended payload imposes great challenges in impact-aware planning and control. This join t system has dual motion modes, depending on whether the cable is slack or not, and presents complicated dynamics." Financial support for this research came from Research Grants Council General Re search Fund. Our news journalists obtained a quote from the research from Sun Yat-sen Univers ity, "Therefore, generating feasible agile flight while preserving the retractab le nature of the cable is still a challenging task. In this article, we propose a novel impact-aware planning and control framework that resolves potential impa cts caused by motion mode switching. Our method leverages the augmented Lagrangi an method to solve an optimization problem with nonlinear complementarity constr aints, which ensures trajectory feasibility with high accuracy while maintaining efficiency. We further propose a hybrid nonlinear model predictive control meth od to address the model mismatch issue in agile flight. Our methods have been co mprehensively validated in both simulation and experiments, demonstrating superi or performance compared to existing approaches."
ZhuhaiPeople's Republic of ChinaAsiaEmerging TechnologiesMachine LearningNano-robotRoboticsSun Yat-sen Uni versity
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