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In this article, we investigate the optimal path planning for aerial loadtransportation in complex, dynamic, and static environments using ParticleSwarm Optimization (PSO). A hierarchical optimal control system is designed fora quadrotor equipped with a cable-suspended payload, employing Euler-Lagrangeequations of motion. To navigate through obstacles, an improved artificialpotential field combined with the PSO algorithm is used to determine theshortest path for a virtual point, acting as a leader. This leader guides thesystem toward the target point while avoiding collisions with both fixed andmoving obstacles. The gravitational and repulsion coefficient forces usingvarious PSO methods are fine-tuned to achieve the best trajectory and minimizetime duration. The identified point serves as the desired location forquadrotor position control, based on a sliding mode strategy. Finally, wepresent numerical results to demonstrate the successful transportation of thepayload by the system.

Optimal Path Planning for Aerial Load Transportation in Complex Environments using PSO-Improved Artificial Potential Fields