MorphoMove: 多肢形態形成型UAVのためのMPCベース経路追従を備えたバイモーダル経路プランナ
MorphoMove: Bi-Modal Path Planner with MPC-based Path Follower for Multi-Limb Morphogenetic UAV
飛行と地上歩行の両方が可能な多肢形態形成型ドローンMorphoGearに対し、A*ベースのハイブリッド経路計画とMPCによる歩行経路追従を開発し、Unityシミュレーションで検証した。
著者: Muhammad Ahsan Mustafa, Yasheerah Yaqoot, Mikhail Martynov, Sausar Karaf, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
This paper discusses developments for a multi-limb morphogenetic UAV, MorphoGear, that is capable of both aerial flight and ground locomotion. A hybrid path planning algorithm based on the A* strategy has been developed, enabling seamless transition between air-to-ground navigation modes, thereby enhancing robot's mobility in complex environments. Moreover, precise path following is achieved during ground locomotion with a Model Predictive Control (MPC) architecture for its novel walking behaviour. Experimental validation was conducted in the Unity simulation environment utilizing Python scripts to compute control values. The algorithm's performance is validated by the Root Mean Squared Error (RMSE) of 0.91 cm and a maximum error of 1.85 cm, as demonstrated by the results. These developments highlight the adaptability of MorphoGear in navigation through cluttered environments, establishing it as a usable tool in autonomous exploration, both aerial and ground-based.
