双人自主无人机竞速的门感知在线规划
Gate-Aware Online Planning for Two-Player Autonomous Drone Racing
AI总结：
本文提出PMPC方法，通过质点模型参考、最优航向计算和磁感应线引导，实现两架四旋翼无人机在线无碰撞竞速门穿越，机载运行频率200 Hz，实测最高速度6.1 m/s。
摘要：
过去5年中，自主四旋翼无人机的飞行速度显著提升，尤其是在自主无人机竞速领域。然而，大多数研究主要集中在单架四旋翼的激进飞行上，将竞速门穿越问题简化为航点通过问题，忽略了竞速门的朝向。在本文中，我们提出了一种名为 Pairwise Model Predictive Control (PMPC)（成对模型预测控制）的系统方法，能够在线引导两架四旋翼以最短时间且无碰撞地穿越竞速门。飞行任务最初被简化为质点模型航点通过问题，通过高效的两步速度搜索方法提供解析的时间最优参考。随后，我们利用赛道的空间配置来计算每个门处的最优航向，最大化四旋翼对后续门的可见性。为了应对不同的门朝向，我们引入了一种新颖的基于磁感应线的空间曲线，引导四旋翼穿越不同朝向的竞速门。此外，我们构建了一个非线性优化问题，使用质点轨迹作为初始值和参考以提升求解效率，使该方法能够在机载设备上以200 Hz的频率运行。所提方法的可行性通过仿真和真实世界实验得到了验证。在真实世界测试中，两架四旋翼在5 m * 4 m * 2 m的紧凑飞行场地内，于一条7航点赛道上达到了6.1 m/s的最高速度。
英文摘要：
The flying speed of autonomous quadrotors has increased significantly over the past 5 years, particularly in the field of autonomous drone racing. However, most research primarily focuses on the aggressive flight of a single quadrotor, simplifying the racing gate traversal problem to a waypoint passing problem that neglects the orientations of the racing gates. In this paper, we propose a systematic method called Pairwise Model Predictive Control (PMPC) that can guide two quadrotors online to navigate racing gates with minimal time and without collisions. The flight task is initially simplified as a point-mass model waypoint passing problem to provide analytical time optimal reference through an efficient two-step velocity search method. Subsequently, we utilize the spatial configuration of the racing track to compute the optimal heading at each gate, maximizing the visibility of subsequent gates for the quadrotors. To address varying gate orientations, we introduce a novel Magnetic Induction Line-based spatial curve to guide the quadrotors through racing gates of different orientations. Furthermore, we formulate a nonlinear optimization problem that uses the point-mass trajectory as initial values and references to enhance solving efficiency, enabling the method to run onboard at a frequency of 200 Hz. The feasibility of the proposed method is validated through both simulation and real-world experiments. In real-world tests, the two quadrotors achieved a top speed of 6.1 m/s on a 7-waypoint racing track within a compact flying arena of 5 m * 4 m * 2 m.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
