着陸状態を適応的に調整する空中ロボットのリアルタイム着地軌道計画
Real-Time Trajectory Planning for Aerial Perching
終端状態と軌道時間を事前固定せず適応的に決めつつ、安全・動的実行可能性を保ちながら接線方向の相対速度を最小化する空中着地の軌道計画法を提案し、推力重量比1.7の小型ドローンで実機検証した。
著者: Jialin Ji, Tiankai Yang, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Furthermore, our planner is able to minimize the tangential relative speed on the premise of safety and dynamic feasibility. This feature is especially notable on micro aerial robots with low maneuverability or scenarios where the space is not enough. Moreover, we design a flexible transformation strategy to eliminate terminal constraints along with reducing optimization variables. Besides, we take precise SE(3) motion planning into account to ensure that the drone would not touch the landing platform until the last moment. The proposed method is validated onboard by a palm-sized micro aerial robot with quite limited thrust and moment (thrust-to-weight ratio 1.7) perching on a mobile inclined surface. Sufficient experimental results show that our planner generates an optimal trajectory within 20ms, and replans with warm start in 2ms.
