外力に頑健なクアッドロータの安全動作計画
External Forces Resilient Safe Motion Planning for Quadrotor
外力推定器を組み込み、力バイアス付き運動プリミティブ探索とHJ到達可能性解析を用いたNMPCで、外乱下でも衝突回避を保証する安全な軌道を生成する計画フレームワークを提案した。
著者: Yuwei Wu, Ziming Ding, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
Adaptive autonomous navigation with no prior knowledge of extraneous disturbance is of great significance for quadrotors in a complex and unknown environment. The mainstream that considers external disturbance is to implement disturbance-rejected control and path tracking. However, the robust control to compensate for tracking deviations is not well-considered regarding energy consumption, and even the reference path will become risky and intractable with disturbance. As recent external forces estimation advances, it is possible to incorporate a real-time force estimator to develop more robust and safe planning frameworks. This paper proposes a systematic (re)planning framework that can resiliently generate safe trajectories under volatile conditions. Firstly, a front-end kinodynamic path is searched with force-biased motion primitives. Then we develop a nonlinear model predictive control (NMPC) as a local planner with Hamilton-Jacobi (HJ) forward reachability analysis for error dynamics caused by external forces. It guarantees collision avoidance by constraining the ellipsoid of the quadrotor body expanded with the forward reachable sets (FRSs) within safe convex polytopes. Our method is validated in simulations and real-world experiments with different sources of external forces.
