ハイブリッド飛行・クロール型クアッドロータの軌道計画と追従
Trajectory Planning and Tracking of Hybrid Flying-Crawling Quadrotors
地上と空中の両方で移動できる変形型クアッドロータ(HyFCQ)向けに、クロール制約を考慮した経路探索と、変形時間を考慮した軌道追従手法を提案し、実機実験で有効性を示した。
著者: Dongnan Hu, Ruihao Xia, Xin Jin, Yang Tang
分類: cs.RO
原文アブストラクト
Hybrid Flying-Crawling Quadrotors (HyFCQs) are transformable robots with the ability of terrestrial and aerial hybrid motion. This article presents a trajectory planning and tracking framework designed for HyFCQs. In this framework, a terrestrial-aerial path-searching method with the crawling limitation of HyFCQs is proposed to guarantee the dynamical feasibility of trajectories. Additionally, a trajectory tracking method is proposed to address the challenges associated with the deformation time required by HyFCQs, which makes tracking hybrid trajectories at the junction between terrestrial and aerial segments difficult. Simulations and real-world experiments in diverse scenarios validate the exceptional performance of the proposed approach.
