Trajectory Planning for a Multi-UAV Rigid-Payload Cascaded Transportation System Based on Enhanced Tube-RRT*
基于增强型管状RRT*的多无人机刚性载荷级联运输系统轨迹规划
机构 * School of Aerospace Science and Technology, Beijing Institute of Technology（航天科学与技术学院，北京理工大学） ； Graduate School of Systems and Information Engineering, University of Tsukuba（系统与信息工程研究生院，筑波大学）
专题命中 规划控制 ：trajectory planning(title,abstract)；分类 cs.RO
AI总结 本文提出一种两级轨迹规划框架，通过增强型管状RRT*算法解决密集障碍环境下的规划问题，结合主动混合采样和自适应扩展策略，生成安全可行的虚拟管，并通过轨迹平滑成本减少过度转弯，提升路径效率。
Comments 15 pages, 7 figures. Under review at IEEE Transactions on Aerospace and Electronic Systems (TAES). This work has been submitted to the IEEE for possible publication
