arXiv 2404.103922024-07-13cs.RO

在杂乱环境中为全向多旋翼飞行器生成6维轨迹

Generating 6-D Trajectories for Omnidirectional Multirotor Aerial Vehicles in Cluttered Environments

School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen（哈尔滨工业大学（深圳）机械工程与自动化学院）；Faculty of Aerospace Engineering, Delft University of Technology（代尔夫特理工大学航空航天工程学院）；Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）

Peiyan Liu, Yuanzhe Shen, Yueqian Liu, Fengyu Quan, Can Wang, Haoyao Chen

备注：: This work has been submitted to the IEEE for possible publication. arXiv admin note: text overlap with arXiv:2209.06764

阅读 PDF

arXiv 页面 ↗HTML 原文 ↗

AI总结：

针对全向多旋翼飞行器在杂乱静态环境中的安全飞行问题，提出基于优化的6维SE(3)轨迹生成框架，并通过仿真和真机实验验证。

摘要：

作为全驱动系统，全向多旋翼飞行器（OMAV）相比传统欠驱动MAV，具有更灵活的机动能力，并在杂乱环境中的激进飞行方面具备优势。本文旨在实现OMAV在杂乱环境中的安全飞行。考虑到现有静态障碍物，本文提出一种高效的基于优化的框架，用于为OMAV生成6维SE(3)轨迹。在给定运动动力学约束以及由一系列相交凸多面体表示的3D无碰撞区域的情况下，所提方法最终生成一条安全且动力学可行的6维轨迹。首先，我们利用球极投影将飞行器姿态参数化为一个自由3D向量，以消除SO(3)流形内在的约束，同时完整的SE(3)轨迹被表示为关于时间的6维多项式，且不存在内在约束。飞行器外形被建模为附着在机体系上的长方体，以实现全身碰撞评估。随后，我们将原始轨迹生成问题表述为一个约束优化问题。原始约束问题最终被转化为一个可高效求解的无约束问题。为验证所提框架的性能，本文基于倾转旋翼六旋翼飞行器开展了仿真和真实世界实验。

英文摘要：

As fully-actuated systems, omnidirectional multirotor aerial vehicles (OMAVs) have more flexible maneuverability and advantages in aggressive flight in cluttered environments than traditional underactuated MAVs. %Due to the high dimensionality of configuration space, making the designed trajectory generation algorithm efficient is challenging. This paper aims to achieve safe flight of OMAVs in cluttered environments. Considering existing static obstacles, an efficient optimization-based framework is proposed to generate 6-D $SE(3)$ trajectories for OMAVs. Given the kinodynamic constraints and the 3D collision-free region represented by a series of intersecting convex polyhedra, the proposed method finally generates a safe and dynamically feasible 6-D trajectory. First, we parameterize the vehicle's attitude into a free 3D vector using stereographic projection to eliminate the constraints inherent in the $SO(3)$ manifold, while the complete $SE(3)$ trajectory is represented as a 6-D polynomial in time without inherent constraints. The vehicle's shape is modeled as a cuboid attached to the body frame to achieve whole-body collision evaluation. Then, we formulate the origin trajectory generation problem as a constrained optimization problem. The original constrained problem is finally transformed into an unconstrained one that can be solved efficiently. To verify the proposed framework's performance, simulations and real-world experiments based on a tilt-rotor hexarotor aerial vehicle are carried out.

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。