In this paper, we address the Perception--Constrained Model Predictive Control (PCMPC) and state estimation problems for quadrotors with cable suspended payloads using a single camera and Inertial Measurement Unit (IMU). We design a receding--horizon control strategy for cable suspended payloads directly formulated on the system manifold configuration space SE(3)xS^2. The approach considers the system dynamics, actuator limits and the camera's Field Of View (FOV) constraint to guarantee the payload's visibility during motion. The monocular camera, IMU, and vehicle's motor speeds are combined to provide estimation of the vehicle's states in 3D space, the payload's states, the cable's direction and velocity. The proposed control and state estimation solution runs in real-time at 500 Hz on a small quadrotor equipped with a limited computational unit. The approach is validated through experimental results considering a cable suspended payload trajectory tracking problem at different speeds.

翻译：在本文中,我们用单一摄像头和惰性测量股(IMU)处理有电缆悬浮有效载荷的有感测受约束模型预测控制(PCMPC)和对有电缆悬浮有效载荷的孔drotors的状态估计问题。我们设计了在系统多元配置空间SE(3)xS ⁇ 2上直接开发的有线悬浮有效载荷的递减热控制战略。该方法考虑了系统动态、驱动器限值和相机视野(FOV)在保证有效载荷在运动期间能见度方面的制约。单筒照相机、IMU和车辆的发动机速度被合并,以提供对3D空间、载荷状态、电缆方向和速度的车辆状态的估计。拟议的控制和状态估计解决方案在500赫兹实时运行,用于一个配备有限计算装置的小型孔drotorors上。该方法通过实验结果得到验证,因为电缆悬浮有效载有效载荷轨道跟踪问题以不同速度出现。