エネルギー効率の良い自律羽ばたき機のためのキノダイナミック計画
Kinodynamic Planning for an Energy-Efficient Autonomous Ornithopter
滑空と羽ばたきを組み合わせて消費エネルギーを最小化する羽ばたき型UAVの軌道計画アルゴリズムを提案し、オンラインでの止まり木着陸計画にも応用できることを示した。
著者: Fabio Rodríguez, José-Miguel Díaz-Báñez, Ernesto Sanchez-Laulhe, Jesús Capitán, Aníbal Ollero
分類: cs.RO
原文アブストラクト
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs). Even though the problem has been well studied for fixed and rotatory-wing vehicles, there are far fewer works exploring it for flapping-wing UAVs like ornithopters. These are of interest for many applications where long flight endurance, but also hovering capabilities are required. We propose an efficient approach to plan ornithopter trajectories that minimize energy consumption by combining gliding and flapping maneuvers. Our algorithm builds a tree of dynamically feasible trajectories and applies heuristic search for efficient online planning, using reference curves to guide the search and prune states. We present computational experiments to analyze and tune key parameters, as well as a comparison against a recent alternative probabilistic planning, showing best performance. Finally, we demonstrate how our algorithm can be used for planning perching maneuvers online.
