Differential Flatness Transformations for Aggressive Quadrotor Flight
Differential Flatness Transformations for Aggressive Quadrotor Flight
复制标题
激进四旋翼飞行的微分平坦度变换
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
G. Chamitoff
中科院分区：
文献类型：
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作者：
B. Morrell;Marc Rigter;Gene B. Merewether;Robert G. Reid;Rohan Thakker;T. Tzanetos;Vinay Rajur;G. Chamitoff
在障碍物之间的积极机动可以使四旋翼机在诸如搜索和救援、监视、检查以及在杂乱环境中需要快速飞行的情况下的应用中具有先进的能力。以前的作品已处理四旋翼差分平坦系统，并已被广泛利用，设计简单的算法，生成动态可行的轨迹，使分层控制。差分平坦特性允许从x、y、z、偏航及其导数的降维空间中提取四旋翼的完整状态。然而，这种微分平坦变换具有许多奇异性，以及当在这些奇异性附近控制时的稳定性问题。在文献中已经描述了许多方法来解决这些问题;然而，当探索四旋翼的整个飞行包线时，包括超过90°的滚转或俯仰角，以及在倒置飞行期间，它们都有局限性。在本文中，我们回顾了这些现有的方法，然后介绍我们的方法，它结合了多种方法，提供了一个高度鲁棒的微分平坦变换，解决了大多数这些问题。我们的方法被证明，使高度积极的四旋翼飞行在模拟和现实世界的实验。
Aggressive maneuvering amongst obstacles could enable advanced capabilities for quadrotors in applications such as search and rescue, surveillance, inspection, and situations where rapid flight is required in cluttered environments. Previous works have treated quadrotors as differentially flat systems, and this property has been exploited widely to design simple algorithms that generate dynamically feasible trajectories and to enable hierarchical control. The differentially flat property allows the full state of the quadrotor to be extracted from the reduced dimensional space of x, y, z, yaw and their derivatives. This differential flatness transformation has a number of singularities, however, as well as stability issues when controlling near these singularities. Many methods have been described in the literature to address these; however, they all have limitations when exploring the full flight envelope of a quadrotor, including roll or pitch angles past 90°, and during inverted flight. In this paper, we review these existing methods and then introduce our method, which combines multiple methods to provide a highly-robust differential flatness transformation that addresses most of these issues. Our approach is demonstrated enabling highly-aggressive quadrotor flight in both simulations and real-world experiments.
影响因子：
8.3
作者：
Droeschel, David;Nieuwenhuisen, Matthias;Behnke, Sven
通讯作者：
Behnke, Sven