バリア関数を用いたマルチUAVペイロードシステムの時間的ウェイポイント航法
Temporal Waypoint Navigation of Multi-UAV Payload System using Barrier Functions
複数UAVで荷物を運ぶ系に対し、信号時相論理(STL)の時間制約を高次時変制御バリア関数で扱い、入出力フィードバック線形化と最適化制御で時間指定付きウェイポイント航法を実現した。Gazebo上での配送シミュレーションで有効性を示した。
著者: Nishanth Rao, Suresh Sundaram, Pushpak Jagtap
分類: cs.RO
原文アブストラクト
Aerial package transportation often requires complex spatial and temporal specifications to be satisfied in order to ensure safe and timely delivery from one point to another. It is usually efficient to transport versatile payloads using multiple UAVs that can work collaboratively to achieve the desired task. The complex temporal specifications can be handled coherently by applying Signal Temporal Logic (STL) to dynamical systems. This paper addresses the problem of waypoint navigation of a multi-UAV payload system under temporal specifications using higher-order time-varying control barrier functions (HOCBFs). The complex nonlinear system of relative degree two is transformed into a simple linear system using input-output feedback linearization. An optimization-based control law is then derived to achieve the temporal waypoint navigation of the payload. The controller's efficacy and real-time implementability are demonstrated by simulating a package delivery scenario inside a high-fidelity Gazebo simulation environment.
