Safe trajectory generation method for multiple flying lifting systems

By constructing a dynamic model that considers load swing and designing capsule-type enclosure box that reacts to load state, combining scaling method and Gaussian pseudo-spectral method, the safety trajectory generation problem of multi-flight lifting systems in complex environments is solved, and the time optimal and accurate trajectory generation effect is achieved.

CN119720518APending Publication Date: 2025-03-28NORTHEASTERN UNIV CHINA
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Patent Information

Application Number
CN202411774553.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-12-05
Publication Date
2025-03-28

AI Technical Summary

Technical Problem

The prior art is difficult to effectively generate safety trajectories of multi-flight lifting systems in complex environments, especially when considering load swings and specific movements of obstacles, existing methods have problems of conservatism and computational simplification.

Method used

A safety trajectory generation method for multi-flight lifting system was designed. By constructing a dynamic model that considers load swing, a capsule-type enclosing box that reacts to load states was designed, and collisions were detected using scaling method to construct nonlinear optimization problems. Finally, the Gaussian pseudo-spectrum method was used for discrete solutions.

Benefits of technology

When the location information of obstacles is known, the safety trajectory of the multi-flight lifting system with the best time is solved, which improves the accuracy and applicability of trajectory generation, reduces the calculation amount, and broadens the understanding space.

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Abstract

The invention provides a safe trajectory generation method for multiple flight hoisting systems, and relates to the technical field of flight hoisting systems. The method comprises the following steps: firstly, modeling a dynamic expression of a multi-flight hoisting system considering load swing; then, designing a capsule type bounding box reflecting the load state, and giving out the design of a scaling coefficient for ensuring collision avoidance in the form of a scaling nonlinear optimization problem; furthermore, on the basis of the dynamic model of the multi-flight hoisting system, through two-time augmentation processing, a non-linear optimization problem of safe trajectory generation of the multi-flight hoisting system is obtained. The design effectively considers the reflection of the load motion state, thereby widening the understanding space. And on the basis, a Gaussian pseudo-spectral method is adopted for discretization to solve the safety trajectory of the multi-flight hoisting system. In conclusion, the method for generating the safe trajectory of the multi-flight hoisting system can effectively solve the problem of generating the safe trajectory of the multi-flight hoisting system in a complex obstacle environment, and has remarkable practical research value.
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