環境変化に即応する時間最適なクアッドロータ飛行のオンライン再計画
Time-Optimal Online Replanning for Agile Quadrotor Flight
点質量モデルの時間最適経路をサンプリングで高速生成し、モデル予測輪郭制御で追従することで、移動ゲートや強風下でもリアルタイムに再計画できるクアッドロータ飛行手法を実現した。
著者: Angel Romero, Robert Penicka, Davide Scaramuzza
分類: cs.RO
原文アブストラクト
In this paper, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the time-optimal trajectories that consider the full quadrotor dynamics are computationally expensive to generate (order of minutes or even hours). We introduce a sampling-based method for efficient generation of time-optimal paths of a point-mass model. These paths are then tracked using a Model Predictive Contouring Control approach that considers the full quadrotor dynamics and the single rotor thrust limits. Our combined approach is able to run in real-time, being the first time-optimal method that is able to adapt to changes on-the-fly. We showcase our approach's adaption capabilities by flying a quadrotor at more than 60 km/h in a racing track where gates are moving. Additionally, we show that our online replanning approach can cope with strong disturbances caused by winds of up to 68 km/h.
