Whole-Body Real-Time Motion Planning for Multicopters
Whole-Body Real-Time Motion Planning for Multicopters
复制标题
多旋翼飞行器全身实时运动规划
DOI：
10.1109/icra48506.2021.9561526
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Fei Gao
中科院分区：
文献类型：
--
作者：
Shaohui Yang;Botao He;Zhepei Wang;Chao Xu;Fei Gao
多旋翼机能够执行高机动性，但其潜力尚未完全实现。在这项工作中，我们提出了一个全身，基于优化的运动规划框架，考虑到形状和姿态的空中机器人，使无人机机动的侵略性显着提高在混乱的环境。我们的方法采用了一系列相交的多面体，这些多面体描述了一系列3D自由空间，并实时输出一个时间索引轨迹，保证全身无碰撞。无人机被建模为一个倾斜的长方体，但我们认为，我们的框架可以自由调整，以适应不同形状的多旋翼机。在保证动态可行性和安全性的前提下，该框架将原约束非线性规划问题转化为高维无约束非线性规划问题，并进一步用拟牛顿法求解。基准测试表明，我们的方法在计算时间和内存使用方面提高了几个数量级。仿真和星载实验验证了该方法的有效性。
Multicopters are able to perform high maneuverability yet their potential have not been fully achieved. In this work, we propose a full-body, optimization-based motion planning framework that takes shape and attitude of aerial robot into consideration such that the aggressiveness of drone maneuvering improves significantly in cluttered environment. Our method takes in a series of intersecting polyhedrons that describe a range of 3D free spaces and outputs a time-indexed trajectory in real-time with full-body collision-free guarantee. The drone is modeled as a tilted cuboid, yet we argue that our framework can be freely adjusted to fit multicopters of different shapes. Guaranteeing dynamic feasibility and safety conditions, our framework transforms the original constrained nonlinear programming problem to an unconstrained one in higher dimensions which is further solved by quasi-Newton methods. Benchmark has shown that our method improves the state-of-art with orders of magnitude in terms of computation time and memory usage. Simulations and onboard experiments are carried out as validation.
用于腿式机器人全身运动规划的混合系统微分动态规划
影响因子：
5.2
作者：
Li, He;Wensing, Patrick M.
通讯作者：
Wensing, Patrick M.