Time-optimal planning for quadrotor waypoint flight
Time-optimal planning for quadrotor waypoint flight
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DOI：
10.1126/scirobotics.abh1221
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发表时间：
2021-07-28
期刊：
影响因子：
25
通讯作者：
Scaramuzza, Davide
中科院分区：
文献类型：
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作者：
Foehn, Philipp;Romero, Angel;Scaramuzza, Davide
四旋翼机器人是最敏捷的飞行机器人之一。然而，通过多个路点在驱动极限下规划时间最优的轨迹仍然是一个悬而未决的问题。这对于检查、交付、搜救和无人机竞赛等应用至关重要。早期的工作使用多项式轨迹公式，由于其固有的平稳性，这种公式没有充分开发执行器潜力。最近的研究求助于数值优化，但需要在特定的离散时间将路点作为成本或约束进行分配。然而，这种时间分配是先验未知的，使得以前的工作无法产生真正的时间最优轨迹。为了产生真正的时间最优轨迹，我们提出了一种解决时间分配问题的方法，同时充分利用了四旋翼的执行器潜力。我们通过引入沿轨迹的进度公式来实现这一点，这使得时间分配和轨迹本身能够同时优化。我们将我们的方法与相关方法进行比较，并在世界上最大的运动捕获系统之一的现实世界飞行中验证它，在无人机竞赛任务中，我们的表现优于人类专家无人机飞行员。
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search and rescue, and drone racing. Early works used polynomial trajectory formulations, which do not exploit the full actuator potential because of their inherent smoothness. Recent works resorted to numerical optimization but require waypoints to be allocated as costs or constraints at specific discrete times. However, this time allocation is a priori unknown and renders previous works incapable of producing truly time-optimal trajectories. To generate truly time-optimal trajectories, we propose a solution to the time allocation problem while exploiting the full quadrotor's actuator potential. We achieve this by introducing a formulation of progress along the trajectory, which enables the simultaneous optimization of the time allocation and the trajectory itself. We compare our method against related approaches and validate it in real-world flights in one of the world's largest motion-capture systems, where we outperform human expert drone pilots in a drone-racing task.