Planning agile motions for quadrotors in constrained environments
Planning agile motions for quadrotors in constrained environments
复制标题
规划受限环境中四旋翼飞行器的敏捷运动
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
T. Siméon
中科院分区：
文献类型：
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作者：
Alexandre Boeuf;Juan Cortés;R. Alami;T. Siméon
规划飞行机器人的物理现实和易于控制的运动需要考虑动力学。本文提出了一种局部轨迹规划器，基于简化的动力学模型的四旋翼，这符合要求，被集成到一个全局运动规划方法。它依赖于一个封闭形式的解决方案来计算曲线的kinodynamic状态空间，往往最大限度地减少飞行时间。这些曲线具有合适的连续性属性，并保证遵守系统的物理限制（即，姿态坐标的时间导数的界限）。本文解释了如何在不同的运动规划方法，使困难的问题在受约束的环境中的治疗，可以使用这个本地规划。
Planning physically realistic and easily controllable motions of flying robots requires considering dynamics. This paper presents a local trajectory planner, based on a simplified dynamic model of quadrotors, which fits the requirements to be integrated into a global motion planning approach. It relies on a closed-form solution to compute curves in the kinodynamic state space that tend to minimize the flying time. These curves have suitable continuity properties and guarantee respect of physical limits of the system (i.e. bounds for the time-derivatives of the pose coordinates). The paper explains how this local planner can be used within different motion planning approaches that enable the treatment of difficult problems in constrained environments.