受動輪を備えた陸空両用車両のモデルベース計画と制御
Model-Based Planning and Control for Terrestrial-Aerial Bimodal Vehicles with Passive Wheels
受動輪付きの陸空両用車両について、統一動力学モデルと微分平坦性を導出し、最適化ベースの軌道計画とNMPCによる追従制御を組み合わせたフレームワークを構築した。
著者: Ruibin Zhang, Junxiao Lin, Yuze Wu, Yuman Gao, Chi Wang, Chao Xu, Yanjun Cao, Fei Gao
分類: cs.RO
原文アブストラクト
Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering robust and efficient autonomous navigation in unknown environments. To resolve this issue, we develop a model-based planning and control framework for terrestrial aerial bi-modal vehicles. This work begins by deriving a unified dynamic model and the corresponding differential flatness. Leveraging differential flatness, an optimization-based trajectory planner is proposed, which takes into account both solution quality and computational efficiency. Moreover, we design a tracking controller using nonlinear model predictive control based on the proposed unified dynamic model to achieve accurate trajectory tracking and smooth mode transition. We validate our framework through extensive benchmark comparisons and experiments, demonstrating its effectiveness in terms of planning quality and control performance.
