旋翼无人机吊运系统研究综述  

A review of research on cable-suspended payload transportation systems by rotorcraft unmanned aerial vehicles

作　　者：梁潇[1,2,3] 刘冰冰 叶慧樱 裴腾飞 于海 方勇纯[1,2,3] LIANG Xiao;LIU Bing-bing;YE Hui-ying;PEI Teng-fei;YU Hai;FANG Yongchun(Institute of Robotics and Automatic Information System,Nankai University,Tianjin 300350,China;College of Artificial Intelligence,Nankai University,Tianjin 300350,China;Institute of Intelligent Technologies and Systems,The Shenzhen Research Institute of Nankai University,Shenzhen 518083,China)

机构地区：[1]南开大学机器人与信息自动化研究所,天津300350 [2]南开大学人工智能学院,天津300350 [3]南开大学深圳研究院智能技术与机器人系统研究院,深圳518083

出　　处：《控制与决策》2025年第4期1079-1097,共19页Control and Decision

基　　金：国家自然科学基金项目(62233011,62273187);天津市重点研发计划科技支撑重点项目(23YFZCSN00060);天津市自然科学基金项目(23JCQNJC01930)。

摘　　要：随着低空经济进入快速发展期,旋翼无人机凭借其垂直起降能力、高机动性及成本低廉等优势,引起了人们的广泛关注.利用其进行物资装备的空中运输能克服地形地势对运输的限制,较地面运输更为高效.在旋翼无人机空中运输领域,吊绳悬挂方式具有机械成本低、对负载体积无限制等优势,因此具有更好的任务适应性.然而,旋翼无人机本身具有欠驱动特性,随着悬挂负载的引入,系统的自由度更高、非线性程度和状态耦合也更为严重,为其控制与规划方案的设计带来了巨大挑战.鉴于此,首先对无人机吊运系统进行分类并简要介绍其特性;然后分别对单机和多机吊运系统的控制及规划方法研究现状与最新进展进行重点阐述;最后对旋翼无人机吊运领域的已有研究进行讨论与总结,并展望该领域未来的发展和趋势.As the low-altitude economy enters a phase of rapid development,rotorcraft unmanned aerial vehicles(UAVs)have attracted widespread attention due to their vertical takeoff and landing capabilities,high maneuverability and low cost.The utilization of it for aerial transportation of materials and equipment offers a significant advantage by overcoming the constraints imposed by challenging terrains,thereby providing a more efficient alternative to traditional ground transportation methods.In the field of aerial transportation,the cable-suspend method offers advantages such as low cost and no restrictions on payload volume,making it highly adaptable for various missions.However,rotorcraft UAVs are inherently underactuated,and integrating the payload further increases the system's degrees of freedom,exacerbating the nonlinearity and state coupling.These complexities present significant challenges to achieving effective system control and motion planning.This paper first classifies the cable-suspended payload transportation systems by rotorcraft UAVs and briefly introduces their characteristics.Then,it focuses on the current state of research and recent advancements in the control and planning methods for both single-UAV and multi-UAV systems.Finally,the existing research in the field of cable-suspended payload transportation systems by rotorcraft UAVs is discussed and summarized,and the future developments and trends in this area are anticipated.

关 键 词：旋翼无人机 吊运负载 协作运输 运动规划 非线性系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]