Freyja: A Full Multirotor System for Agile & Precise Outdoor Flights
Freyja: A Full Multirotor System for Agile & Precise Outdoor Flights
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DOI：
10.1109/icra48506.2021.9562076
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发表时间：
2021-05
期刊：
影响因子：
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通讯作者：
A. Shankar;Sebastian G. Elbaum;Carrick Detweiler
中科院分区：
文献类型：
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作者：
A. Shankar;Sebastian G. Elbaum;Carrick Detweiler
对于多旋翼无人机系统(UAS)的状态估计和控制，存在几种独立的方法，这些方法解决了特定和受限的操作条件。这项工作提供了一个完整的端到端管道，使多旋翼无人机在真实和具有挑战性的室外环境下能够进行精确、积极和灵活的机动。我们利用文献中最先进的优化方法进行轨迹规划和控制，以便快速、稳健地设计和执行动态路径，并易于针对特定应用进行定制。整个管道完全使用商业上可用的组件建造，是开源的，并有完整的文档，以便于采用。我们展示了它在各种操作环境中的性能，例如在动态风速高达5-6米/S(12-15米/小时)的情况下悬停在一个点上，同时保持在12厘米的3D误差范围内。我们还描述了它在户外高速飞行的能力，以及在8秒内实现与移动目标的快速空中对接和规划和拦截的能力。
Several independent approaches exist for state estimation and control of multirotor unmanned aerial systems (UASs) that address specific and constrained operational conditions. This work presents a complete end-to-end pipeline that enables precise, aggressive and agile maneuvers for multirotor UASs under real and challenging outdoor environments. We leverage state-of-the-art optimal methods from the literature for trajectory planning and control, such that designing and executing dynamic paths is fast, robust and easy to customize for a particular application. The complete pipeline, built entirely using commercially available components, is made open-source and fully documented to facilitate adoption. We demonstrate its performance in a variety of operational settings, such as hovering at a spot under dynamic wind speeds of up to 5– 6m/s (12–15mi/h) while staying within 12cm of 3D error. We also characterize its capabilities in flying high-speed trajectories outdoors, and enabling fast aerial docking with a moving target with planning and interception occurring in under 8s.