旋翼无人机在地理测绘、精准农业、城市防恐、国防军事、空中摄影等领域具有十分重要的应用价值。近年来，低速飞行下的自主导航技术已取得突破，但其鲁棒性在复杂的应用场景中难以保证，更无法应对算力受限下的高速高机动飞行。为实现无人机的小型化、智能化、高速化，其在复杂场景下的环境感知与理解、适应性智能导航、高速运动轨迹实时规划，是本项目研究的重点内容。 .本项目以小型旋翼无人机为研究对象，以复杂、未知、开放的飞行环境为场景，以高速、高机动的全自主导航为研究目标，以感知-规划紧耦合下无人机飞行轨迹的时空联合优化为基本思路，拟对无人机的局部建图、在线规划和轨迹生成模块开展研究并进行系统的整体设计和集成，实现在有限算力下的复杂环境高速自主导航。

Multicopper plays a vital role in many areas such as geographic mapping, precise agriculture, military, aerial filming, et al. In recent years, our community has witnessed huge development in autonomous navigation for low-speed flight. However, the autonomous navigation system lacks robustness in complex applications and is not applicable for flights with high speed and aggressiveness. In this project, for developing micro, intelligent, and aggressive drones, we focus on the research of environmental perception, adaptive navigation, real-time high-speed trajectory planning...In this project, we study the autonomous navigation problem of micro multicopper in complex and previously unknown environments. We plan to develop local mapping, path planning, and trajectory optimization methods that support aggressive autonomous flights, based on the tightly-coupled perception-planning pipeline and alternative optimization in the spatial-temporal joint space of the vehicle. Finally, we will integrate everything to form a complete platform for miniature multicopper and achieve fast autonomous navigation with limited onboard computing budget.