Trajectory Planning of Quadrotor UAV with Suspended Payload Based on Predictive Control

In the work of data collection, express transportation and rescue by UAV, we generally use UAVs to move the suspended payload in flight process. It is fully necessary to study how to effectively suppress the swing of the suspended load and avoid known obstacles. In this paper, the kinematic equations of the quadrotor UAV and suspended payload in the three-dimensional space are analyzed. A trajectory planning method based on predictive control is proposed, and the cost function considering load swing angle and the distance between obstacle and UAV is designed and generate an optimal trajectory that meets the requirements. The simulation results show that the proposed method can achieve the purpose of minimizing the swing angle and avoid the obstacles at the level of trajectory planning.