屋内での自己気流外乱の推定と適応およびクアッドロータ経路計画への応用
Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning
クアッドロータが狭い屋内環境で飛行する際に生じる自己気流外乱をホバリング実験からモデル化し、その推定結果をHamilton-Jacobi到達可能性解析に組み込んで安全な経路計画を実現した研究。
著者: Luqi Wang, Boyu Zhou, Chuhao Liu, Shaojie Shen
分類: cs.RO
原文アブストラクト
It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow disturbance can be a significant adverse factor during flights, causing potential safety issues, especially in narrow and confined indoor environments. Therefore, we propose a novel method to estimate and adapt indoor ego airflow disturbance of quadrotors, meanwhile applying it to trajectory planning. Firstly, the hover experiments for different quadrotors are conducted against the proximity effects. Then with the collected acceleration variance, the disturbances are modeled for the quadrotors according to the proposed formulation. The disturbance model is also verified under hover conditions in different reconstructed complex environments. Furthermore, the approximation of Hamilton-Jacobi reachability analysis is performed according to the estimated disturbances to facilitate the safe trajectory planning, which consists of kinodynamic path search as well as B-spline trajectory optimization. The whole planning framework is validated on multiple quadrotor platforms in different indoor environments.
