LAUSR

This paper investigates the motion planning problem for symmetric UAV cooperative lifting in confined spaces. A dynamic model of the symmetric UAV cooperative lifting system is established, and differential flatness analysis is employed to transform nonlinear dynamics into constraints on flat outputs, thereby simplifying the motion planning process. The planning framework consists of two levels: path planning and trajectory planning. For path planning, a reinforcement learning-based bidirectional RRT (RLDB-BiRRT) method is proposed, which integrates the random tree expansion mechanism with the DDPG algorithm to achieve adaptive directional bias. This approach effectively mitigates the issues of low search efficiency and excessive redundant nodes inherent in traditional RRT algorithms. For trajectory planning, an adaptive safe flight corridor (SFC) construction method is introduced, combining symmetric ellipsoids and convex polyhedra to generate high-quality linear constraints. Building upon the proposed motion planning method and leveraging differential flatness analysis, a unified planning framework is developed that seamlessly integrates the reinforcement learning-enhanced path planning with adaptive safe corridor construction and differential-flatness-based trajectory optimization, specifically designed for symmetric UAV cooperative lifting tasks in confined spaces. This integrated approach enhances corridor space utilization and ensures trajectory continuity. Simulation experiments validate the effectiveness of the proposed methods, demonstrating their capability to generate dynamically feasible, smooth, and safe transportation trajectories in confined environments, while effectively constraining load swing and UAV attitude angles. This study provides theoretical foundations and practical references for the application of symmetric UAV cooperative lifting in low-altitude logistics and emergency transportation scenarios.