飛行コリドーを用いたアグレッシブドローン飛行のためのモデル予測輪郭制御
CMPCC: Corridor-based Model Predictive Contouring Control for Aggressive Drone Flight
飛行コリドーを安全制約として用い、飛行速度と追従精度をオンラインで同時最適化するMPCCベースの低レベルプランナを提案した論文。
著者: Jialin Ji, Xin Zhou, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
In this paper, we propose an efficient, receding horizon, local adaptive low-level planner as the middle layer between our original planner and controller. Our method is named as corridor-based model predictive contouring control (CMPCC) since it builds upon on MPCC and utilizes the flight corridor as hard safety constraints. It optimizes the flight aggressiveness and tracking accuracy simultaneously, thus improving our system's robustness by overcoming unmeasured disturbances. Our method features its online flight speed optimization, strict safety and feasibility, and real-time performance, and will be released as a low-level plugin for a large variety of quadrotor systems.
