面向3D环境中袋鼠式机器人规划的高效变长悬挂系绳参数化方法
Efficient variable-length hanging tether parameterization for marsupial robot planning in 3D environments
AI总结：
本文针对袋鼠式无人机-地面车辆系统中悬挂系绳建模计算复杂的问题，提出利用悬链线与抛物线的相似性推导解析模型，实现高效无碰撞的变长系绳状态参数化，以加速3D环境下的路径与轨迹规划。
摘要：
本文提出了一种新颖的方法，用于高效地参数化和估计悬挂系绳的状态，以支持袋鼠式配置中与无人机（UAV）相连的无人地面车辆（UGV）的路径和轨迹规划。现有技术中的大多数实现要么假设系绳处于绷紧状态，要么使用悬链线曲线来建模悬挂系绳的形状。悬链线模型计算复杂，并且在规划过程中必须实例化数千次，成为一项耗时的任务；而绷紧系绳假设虽然简化了问题，但可能过度限制平台的运动。为了加速规划过程，本文提出定义一个解析模型来高效计算悬挂系绳状态，并提出一种获得无碰撞系绳状态参数化的方法。我们利用悬链线与抛物线曲线之间已有的相似性，推导出系绳状态的解析表达式。
英文摘要：
This paper presents a novel approach to efficiently parameterize and estimate the state of a hanging tether for path and trajectory planning of a UGV tied to a UAV in a marsupial configuration. Most implementations in the state of the art assume a taut tether or make use of the catenary curve to model the shape of the hanging tether. The catenary model is complex to compute and must be instantiated thousands of times during the planning process, becoming a time-consuming task, while the taut tether assumption simplifies the problem, but might overly restrict the movement of the platforms. In order to accelerate the planning process, this paper proposes defining an analytical model to efficiently compute the hanging tether state, and a method to get a tether state parameterization free of collisions. We exploit the existing similarity between the catenary and parabola curves to derive analytical expressions of the tether state.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
