Trajectory Planning for a Multi-UAV Rigid-Payload Cascaded Transportation System Based on Enhanced Tube-RRT*

• URL: http://arxiv.org/abs/2604.15074v1
• Date: Thu, 16 Apr 2026 14:39:28 GMT
• Title: Trajectory Planning for a Multi-UAV Rigid-Payload Cascaded Transportation System Based on Enhanced Tube-RRT*
• Abstract summary: This paper presents a two-stage trajectory planning framework for a rigid-payload cascaded transportation system.<n>In Stage I, an Enhanced Tube-RRT* algorithm is developed by integrating active hybrid sampling and an adaptive expansion strategy.<n>In Stage II, a convex quadratic program is formulated by considering payload translational and rotational dynamics.
• Score: 5.920746855674374
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In Stage I, an Enhanced Tube-RRT* algorithm is developed by integrating active hybrid sampling and an adaptive expansion strategy, enabling rapid generation of a safe and feasible virtual tube in environments with dense obstacles. Moreover, a trajectory smoothness cost is explicitly incorporated into the edge cost to reduce excessive turns and thereby mitigate cable-induced oscillations. Simulation results demonstrate that the proposed Enhanced Tube-RRT* achieves a higher success rate and effective sampling rate than mixed-sampling Tube-RRT* (STube-RRT*) and adaptive-extension Tube-RRT* (AETube-RRT*), while producing a shorter optimal path with a smaller cumulative turning angle. In Stage II, a convex quadratic program is formulated by considering payload translational and rotational dynamics, cable tension constraints, and collision-safety constraints, yielding a smooth, collision-free desired payload trajectory. Finally, a centralized geometric control scheme is applied to the cascaded system to validate the effectiveness and feasibility of the proposed planning framework, offering a practical solution for payload attitude maneuvering in densely cluttered environments.

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