コントローラを変えずにプランナを変える：クアッドロータの空力ドラッグを考慮した軌道生成
Why Change Your Controller When You Can Change Your Planner: Drag-Aware Trajectory Generation for Quadrotor Systems
ペイロードによる空力ドラッグを受けるクアッドロータに対し、コントローラは固定したまま追従誤差を考慮した軌道計画を学習し、追従誤差を最大83%削減した。
著者: Hanli Zhang, Anusha Srikanthan, Spencer Folk, Vijay Kumar, Nikolai Matni
分類: cs.RO, cs.LG, cs.SY, eess.SY
原文アブストラクト
Motivated by the increasing use of quadrotors for payload delivery, we consider a joint trajectory generation and feedback control design problem for a quadrotor experiencing aerodynamic wrenches. Unmodeled aerodynamic drag forces from carried payloads can lead to catastrophic outcomes. Prior work model aerodynamic effects as residual dynamics or external disturbances in the control problem leading to a reactive policy that could be catastrophic. Moreover, redesigning controllers and tuning control gains on hardware platforms is a laborious effort. In this paper, we argue that adapting the trajectory generation component keeping the controller fixed can improve trajectory tracking for quadrotor systems experiencing drag forces. To achieve this, we formulate a drag-aware planning problem by applying a suitable relaxation to an optimal quadrotor control problem, introducing a tracking cost function which measures the ability of a controller to follow a reference trajectory. This tracking cost function acts as a regularizer in trajectory generation and is learned from data obtained from simulation. Our experiments in both simulation and on the Crazyflie hardware platform show that changing the planner reduces tracking error by as much as 83%. Evaluation on hardware demonstrates that our planned path, as opposed to a baseline, avoids controller saturation and catastrophic outcomes during aggressive maneuvers.
