突風下におけるマルチロータUAVの飛行船への自律ドッキング
Autonomous Docking of Multi-Rotor UAVs on Blimps under the Influence of Wind Gusts
突風による飛行船の揺れを予測する時系列畳み込みネットワークと、その予測を活用したモデル予測制御により、マルチロータUAVが飛行船へ衝突回避しながら自律ドッキングする手法を提案し、実機実験で検証した。
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著者: Pascal Goldschmid, Aamir Ahmad
分類: cs.RO
原文アブストラクト
Multi-rotor UAVs face limited flight time due to battery constraints. Autonomous docking on blimps with onboard battery recharging and data offloading offers a promising solution for extended UAV missions. However, the vulnerability of blimps to wind gusts causes trajectory deviations, requiring precise, obstacle-aware docking strategies. To this end, this work introduces two key novelties: (i) a temporal convolutional network that predicts blimp responses to wind gusts, enabling rapid gust detection and estimation of points where the wind gust effect has subsided; (ii) a model predictive controller (MPC) that leverages these predictions to compute collision-free trajectories for docking, enabled by a novel obstacle avoidance method for close-range manoeuvres near the blimp. Simulation results show our method outperforms a baseline constant-velocity model of the blimp significantly across different scenarios. We further validate the approach in real-world experiments, demonstrating the first autonomous multi-rotor docking control strategy on blimps shown outside simulation. Source code is available here https://github.com/robot-perception-group/multi_rotor_airship_docking.
