发表机构
Massachusetts Institute of Technology（麻省理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对多无人机吊挂负载系统，提出一种用刚性连杆链模拟柔性缆绳的欧拉-牛顿动力学模型，经真实飞行验证，平移误差低于132毫米，方向误差低于11.4度，并公开数据。
AI 中文摘要
为简化多无人机吊挂负载系统（MUSLS）的控制问题，一个常见的假设是将柔性缆绳建模为无质量刚性杆。在本工作中，我们提出了一种替代的欧拉-牛顿推导动力学模型，该模型使用一系列刚性连杆来建模柔性缆绳。该模型专门设计为允许使用Featherstone的关节体算法进行高效仿真。我们在平缓、激进和张力接合机动上对该模型进行了真实世界验证，并进行了参数扫描以确定连杆数量、关节阻尼和关节摩擦，以实现最大的模型保真度。该模型与真实飞行数据紧密匹配，平均负载平移误差低于132毫米（缆绳长度的5.5%），方向误差低于11.4度。我们公开了真实飞行数据，以促进未来缆绳模型的开发。
英文摘要
A common assumption to simplify the problem of controlling a multi-UAV slung load system (MUSLS) is that the flexible cables can be modeled as massless rigid rods. In this work, we propose an alternative Euler-Newton derived dynamical model which uses a series of rigid links to model the flexible cables. The model is specifically designed to allow efficient simulation using Featherstone's articulated body algorithm. We perform real-world validation of this model on gentle, aggressive, and tension-engagement maneuvers and run a parameter sweep to determine the number of links, joint damping, and joint friction to achieve the greatest model fidelity. The model closely matches real-world flight data with mean load translation errors below 132 mm (5.5% of the cable length) and orientation errors below 11.4 degrees. We make the real-world flight data publicly available for the development of future cable models.
CommentsPresented at ICRA 2026 as an accepted paper
Journal refMerton, Harvey, and Ian W. Hunter. "Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach." 2026 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2026
