Time-Optimal Online Replanning for Agile Quadrotor Flight
Time-Optimal Online Replanning for Agile Quadrotor Flight
复制标题
敏捷四旋翼飞行的时间最优在线重新规划
DOI：
10.1109/lra.2022.3185772
复制
发表时间：
2022
影响因子：
5.2
通讯作者：
D. Scaramuzza
中科院分区：
文献类型：
--
作者：
Angel Romero;Robert Pěnička;D. Scaramuzza
在本文中，我们使用时间最优控制策略来解决飞行四旋翼的问题，当环境变化或遇到未知干扰时，可以在线重新规划。这个问题是具有挑战性的，因为考虑全四旋翼动力学的时间最优轨迹在计算上是昂贵的，大约几分钟甚至几小时。我们介绍了一种基于采样的方法，有效地产生的点质量模型的时间最优路径。然后，使用模型预测轮廓控制方法来跟踪这些路径，该方法考虑全四旋翼动力学和单旋翼推力极限。我们的组合方法能够实时运行，是第一个能够适应动态变化的时间最优方法。我们展示了我们的方法的适应能力，通过飞行四旋翼在超过60公里/小时的赛道上，大门正在移动。此外，我们表明，我们的在线重新规划方法可以科普高达68公里/小时的风引起的强烈干扰。
In this paper, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the time-optimal trajectories that consider the full quadrotor dynamics are computationally expensive to generate, on the order of minutes or even hours. We introduce a sampling-based method for efficient generation of time-optimal paths of a point-mass model. These paths are then tracked using a Model Predictive Contouring Control approach that considers the full quadrotor dynamics and the single rotor thrust limits. Our combined approach is able to run in real-time, being the first time-optimal method that is able to adapt to changes on-the-fly. We showcase our approach’s adaption capabilities by flying a quadrotor at more than 60 km/h in a racing track where gates are moving. Additionally, we show that our online replanning approach can cope with strong disturbances caused by winds of up to 68 km/h.