Fast full state trajectory generation for multirotors
Fast full state trajectory generation for multirotors
复制标题
多旋翼飞行器的快速全状态轨迹生成
DOI：
10.1109/icuas.2017.7991304
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Sven Behnke
中科院分区：
文献类型：
--
作者：
Marius Beul;Sven Behnke
微型飞行器，如多旋翼，是为自主监测、检查和监视等应用而开发的。当前的大多数应用场景都假设环境是静止的，因此，弹道生成依赖于静态目标。在这篇文章中，我们研究了动态环境中的时间最优轨迹生成问题，例如着陆在移动平台上。我们扩展了现有的轨迹生成方法，能够同步多个运动轴，对单个轴采用主/从方法。我们进一步明确地对待移动目标，就像在以目标为中心的框架中规划移动着陆平台一样。我们的评估证明了该方法在干扰下的性能。这些结果在动态多翼飞行器飞行中有应用，也允许在具有挑战性的条件下快速而精确的多翼飞行器运动。
Micro aerial vehicles, such as multirotors, are developed for applications like autonomous monitoring, inspection, and surveillance. Most of the current application scenarios assume a stationary environment and thus, trajectory generation rehes on static targets. In this paper, we address time-optimal trajectory generation in dynamic environments, e.g., for landing on a moving platform. We extend our existing trajectory generation method by the ability to synchronize several axes of motion, following a master/slave approach for individual axes. We further explicitly treat moving targets, like moving landing platforms by planning in a target-centric frame. Our evaluation demonstrates the performance of the method under disturbances. These results have application in dynamic multicopter flight, and also allow for fast and precise multicopter motion under challenging conditions.
复杂 GNSS 拒绝环境中微型飞行器的自主导航
影响因子：
3.3
作者：
Nieuwenhuisen;Droeschel;Behnke
通讯作者：
Behnke