大規模空間における時空間マルチドローン協調のためのロバスト軌道計画
Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes
大規模空間で高速飛行する複数ドローン向けに、カプセル型安全制約と空き空間マップを用いたロバストな軌道最適化フレームワークを提案し、数百機規模の衝突回避軌道を数分で計算できることを示した。
著者: Zhepei Wang, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is designed to avoid reciprocal collisions when vehicles deviate from their nominal flight progress under disturbance. We further show the minimum-singularity differential flatness of our drone dynamics with nonlinear drag effects involved. Leveraging the flatness map, trajectory optimization is efficiently conducted on the flat outputs while still subject to physical limits considering drag forces at high speeds. The robustness and effectiveness of our framework are both validated in large-scale simulations. It can compute collision-free trajectories satisfying high-fidelity vehicle constraints for hundreds of drones in a few minutes.
