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Multi-Objective Trajectory Planning for Slung-Load Quadrotor System

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dc.contributor.author Ergezer, Halit
dc.date.accessioned 2022-06-27T12:04:09Z
dc.date.available 2022-06-27T12:04:09Z
dc.date.issued 2021
dc.identifier.citation Ergezer, Halit (2021). "Multi-Objective Trajectory Planning for Slung-Load Quadrotor System", IEEE Access, Vol. 9, pp. 155003-155017. tr_TR
dc.identifier.issn 2169-3536
dc.identifier.uri http://hdl.handle.net/20.500.12416/5692
dc.description.abstract In this article, multi-objective trajectory planning has been carried out for a quadrotor carrying a slung load. The goal is to obtain non-dominated solutions for path length, mission duration, and dissipated energy cost functions. These costs are optimized by imposing constraints on the slung-load quadrotor system's endpoints, borders, obstacles, and dynamical equations. The dynamic model of a slung-load quadrotor system is used in the Euler-Lagrange formulation. Although the differential flatness feature is mostly used in this system's trajectory planning, a fully dynamic model has been used in our study. A new multi-objective Genetic Algorithm has been developed to solve path planning, aiming to optimize trajectory length, mission time, and energy consumed during the mission. The solution process has a three-phase algorithm: Phase-1 is about randomly generating waypoints, Phase-2 is about constructing the initial non-dominated pool, and the final phase, Phase-3, is obtaining the solution. In addition to conventional genetic operators, simple genetic operators are proposed to improve the trajectories locally. Pareto Fronts have been obtained corresponding to exciting scenarios. The method has been tested, and results have been presented at the end. A comparison of the solutions obtained with MOGA operators and MOPSO over hypervolume values is also presented. © 2013 IEEE. tr_TR
dc.language.iso eng tr_TR
dc.relation.isversionof 10.1109/ACCESS.2021.3129265 tr_TR
dc.rights info:eu-repo/semantics/openAccess tr_TR
dc.subject Multiobjective Optimization tr_TR
dc.subject Slung-Load Quadrotor System tr_TR
dc.subject Trajectory Planning tr_TR
dc.title Multi-Objective Trajectory Planning for Slung-Load Quadrotor System tr_TR
dc.type article tr_TR
dc.relation.journal IEEE Access tr_TR
dc.contributor.authorID 293396 tr_TR
dc.identifier.volume 9 tr_TR
dc.identifier.startpage 155003 tr_TR
dc.identifier.endpage 155017 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü tr_TR


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