如何绘制轨迹？——使用编程演示进行轨迹规划
How to Drawjectory? -- Trajectory Planning using Programming by Demonstration
AI总结：
针对自动轨迹规划计算量大和精度不足的问题，提出基于编程演示的手动绘制轨迹方法，在乌尔姆大学四轴飞行器实验室验证，平均快78.7秒且精度无显著损失。
摘要：
飞行轨迹定义了四轴飞行器如何在三维空间中从一个位置精确移动到另一个位置。自动飞行轨迹规划面临计算量大和精度不足等挑战。因此，当需要低计算量或精确控制时，手动编程飞行路线轨迹可能更为可取。然而，这需要深入了解如何在三维空间中精确规划飞行轨迹。我们提出使用编程演示（PbD）方法手动规划四轴飞行器飞行轨迹——只需用手在三维空间中绘制轨迹。这简化了规划过程，并降低了对深入知识的要求。我们在乌尔姆大学的四轴飞行器实验室中实现了该方法。为了评估我们的方法，我们将用户使用我们的方法绘制的轨迹的精度和准确度以及所需时间，与使用领域特定语言手动编程的轨迹进行比较。评估表明，Drawjectory工作流平均快78.7秒，且没有显著的精度损失，平均偏差为6.67厘米。
英文摘要：
A flight trajectory defines how exactly a quadrocopter moves in the three-dimensional space from one position to another. Automatic flight trajectory planning faces challenges such as high computational effort and a lack of precision. Hence, when low computational effort or precise control is required, programming the flight route trajectory manually might be preferable. However, this requires in-depth knowledge of how to accurately plan flight trajectories in three-dimensional space. We propose planning quadrocopter flight trajectories manually using the Programming by Demonstration (PbD) approach -- simply drawing the trajectory in the three-dimensional space by hand. This simplifies the planning process and reduces the level of in-depth knowledge required. We implemented the approach in the context of the Quadcopter Lab at Ulm University. In order to evaluate our approach, we compare the precision and accuracy of the trajectories drawn by a user using our approach as well as the required time with those manually programmed using a domain specific language. The evaluation shows that the Drawjectory workflow is, on average, 78.7 seconds faster without a significant loss of precision, shown by an average deviation 6.67 cm.
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。
