基于高级空间杜宾斯飞机模型的参考轨迹平滑与基于低级几何跟踪的四旋翼控制
High-level spatial Dubins airplane-based reference smoothing with low-level geometric tracking for quadrotor control
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中文总结 AI 辅助
提出一种四旋翼控制方法，含高级参考轨迹平滑与低级跟踪步骤。高级利用杜宾斯飞机模型降维等，低级基于完整模型的几何跟踪控制器。用于跟踪有侧向约束的参考轨迹，有离线一次性和在线闭环递推两种设置。
中文摘要 AI 辅助
本文提出一种四旋翼控制方法，由高级参考轨迹平滑步骤和低级参考轨迹跟踪步骤组成。高级步骤利用杜宾斯飞机模型降维并降低计算复杂度，通过其结构进行解耦、空间建模及构建小型线性规划。低级步骤利用基于完整四旋翼模型的几何跟踪控制器。该方法用于跟踪有侧向约束的参考轨迹，如沿障碍物轮廓跟踪。区分了两种设置：高级规划步骤一次性离线进行，或在有限空间预测范围内在线闭环递推进行。
英文摘要
A method for the control of quadrotors is presented. It is composed of a high-level reference smoothing step and a low-level reference tracking step. The high-level step leverages the Dubins airplane model for dimensionality reduction and reduced computational complexity, and exploits its structure for decoupling, spatial modeling and the formulation of a small linear program. The low-level step leverages a geometric tracking controller, which is based on the full quadrotor model. The method is designed for the tracking of references subject to lateral constraints along the path. An example is the tracking of references along obstacle contours. It is differentiated between two different setups. Either the high-level planning step is conducted once and offline, or, alternatively, the high-level planning step is conducted recedingly online in closed-loop over a limited spatial prediction horizon.
发表机构
- Findklein GmbH（芬德克莱因有限公司）
机构由 AI 辅助整理，请以论文原文为准。
