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Obstacle Avoidance-based Control System Design of UAV with Suspended Payload

In this paper, the flight safety of quadrotor UAV with suspended payload in presence of obstacle is addressed. The trajectory planning and stability control are discussed to minimize the payload swing. Firstly, a comprehensive model of quadrotor UAV with payload system is established. Then, for given waypoints, Cubic curve is used to generate a feasible reference trajectory in urban environment. In suburban, Dubins trajectory method is introduced to generate smooth and continuous obstacle avoidance trajectory. Predictive control is used to find the shortest route with minimizing payload swing by avoiding unknown obstacles in real-time. The hierarchical control structure of inner-loop attitude and outer-loop position using PID is adopted in the design of trajectory tracking. The simulation results verify the feasibility of obstacle avoidance strategy for UAV flying with a suspended payload.