密集環境での編隊飛行のための分散スワーム軌道最適化
Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments
編隊の類似度を測る微分可能な指標を導入し、衝突回避と編隊維持を同時に扱う最適化ベースの分散軌道計画手法を提案、実機スワームで有効性を実証した。
著者: Lun Quan, Longji Yin, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this deficiency, we present an optimization-based method that ensures collision-free trajectory generation for formation flight. In this paper, a novel differentiable metric is proposed to quantify the overall similarity distance between formations. We then formulate this metric into an optimization framework, which achieves spatial-temporal planning using polynomial trajectories. Minimization over collision penalty is also incorporated into the framework, so that formation preservation and obstacle avoidance can be handled simultaneously. To validate the efficiency of our method, we conduct benchmark comparisons with other cutting-edge works. Integrated with an autonomous distributed aerial swarm system, the proposed method demonstrates its efficiency and robustness in real-world experiments with obstacle-rich surroundings. We will release the source code for the reference of the community.
