An Enhanced Tube-RRT* algorithm with hybrid sampling and smoothness costs, paired with convex quadratic programming, generates safe trajectories for multi-UAV rigid-payload cascaded systems in dense obstacles.
Research on key tech- nologies for large-load multi-unmanned aerial vehicles cooperative hanging transportation
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Trajectory Planning for a Multi-UAV Rigid-Payload Cascaded Transportation System Based on Enhanced Tube-RRT*
An Enhanced Tube-RRT* algorithm with hybrid sampling and smoothness costs, paired with convex quadratic programming, generates safe trajectories for multi-UAV rigid-payload cascaded systems in dense obstacles.