In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of quadrotors transports and manipulates a cable-suspended rigid-body payload in environments cluttered with obstacles. The proposed algorithm ensures obstacle avoidance for the entire system, including the quadrotors, cables, and the payload in all six degrees of freedom (DoF). We introduce the use of CBFs to enable safe and smooth maneuvers, effectively navigating through cluttered environments while accommodating the system's nonlinear dynamics. To simplify complex constraints, the system components are modeled as convex polytopes, and the Duality theorem is employed to reduce the computational complexity of the optimization problem. We validate the performance of our planning approach both in simulation and real-world environments using multiple quadrotors. The results demonstrate the effectiveness of the proposed approach in achieving obstacle avoidance and safe trajectory generation for cooperative transportation tasks.

翻译：本文提出了一种利用控制屏障函数进行多四旋翼协同操作的新型轨迹规划算法。该方法针对由一组四旋翼在障碍物密集环境中运输并操控缆索悬挂刚体载荷的系统复杂动力学问题。所提算法确保整个系统（包括四旋翼、缆索及载荷）在全部六个自由度上实现避障。我们引入控制屏障函数以实现安全平滑的机动，在适应系统非线性动力学特性的同时有效穿越密集障碍环境。为简化复杂约束，系统组件被建模为凸多面体，并运用对偶定理降低优化问题的计算复杂度。我们通过多四旋翼仿真与真实环境实验验证了该规划方法的性能。结果表明，所提方法在协同运输任务中能有效实现避障并生成安全轨迹。