大規模ドローン群のためのダウンウォッシュを考慮した軌道計画
Downwash-Aware Trajectory Planning for Large Quadrotor Teams
障害物の多い環境で多数のクアッドロータが編隊変更する際の軌道計画手法を提案し、ダウンウォッシュ効果を考慮して密集飛行を安全にし、最大200機のシミュレーションと32機の実機実験で有効性を示した。
著者: James A. Preiss, Wolfgang Hönig, Nora Ayanian, Gaurav S. Sukhatme
分類: cs.RO
原文アブストラクト
We describe a method for formation-change trajectory planning for large quadrotor teams in obstacle-rich environments. Our method decomposes the planning problem into two stages: a discrete planner operating on a graph representation of the workspace, and a continuous refinement that converts the non-smooth graph plan into a set of C^k-continuous trajectories, locally optimizing an integral-squared-derivative cost. We account for the downwash effect, allowing safe flight in dense formations. We demonstrate the computational efficiency in simulation with up to 200 robots and the physical plausibility with an experiment with 32 nano-quadrotors. Our approach can compute safe and smooth trajectories for hundreds of quadrotors in dense environments with obstacles in a few minutes.
