用于感知增强自主飞行的构型诱导被动自旋转
Configuration-Induced Passive Self-Rotation for Perception-Enhanced Autonomous Flight
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中文总结 AI 辅助
研究受限杂乱环境中自主飞行因传感器视野受限的问题，提出构型诱导被动自旋转三旋翼飞行器，利用后臂构型参数调节工作点，开发分层自主框架，经大量实验验证该方法对感知增强自主飞行有效。
中文摘要 AI 辅助
在受限且杂乱的环境中进行自主飞行，机载传感器有限的视野从根本上限制了其发展。被动自旋转可在无需额外传感器的情况下扩大传感覆盖范围，但在扫描视野刷新率和飞行性能之间存在权衡。本文提出了一种用于感知增强自主飞行的构型诱导被动自旋转三旋翼飞行器。首先，利用后臂构型参数调节被动自旋转工作点，提供一种机身级机制来平衡扫描视野刷新率和飞行性能。其次，开发了一个集成规划与控制的分层自主框架，以在持续被动自旋转下实现敏捷且稳健的自主飞行。对于基于航点的检查，进一步使用引导点重新规划来提高任务级覆盖范围。大量实际实验，包括高速轨迹跟踪、抗干扰测试以及在典型杂乱环境中的自主导航，证明了所提方法对感知增强自主飞行具有有效性。
英文摘要
Autonomous flight in confined and cluttered environments is fundamentally limited by the restricted field of view (FoV) of onboard sensors. Passive self-rotation expands sensing coverage without additional sensors but introduces a tradeoff between swept-FoV refresh rate and flight performance. This letter presents a configuration-induced passively self-rotating tricopter for perception-enhanced autonomous flight. Firstly, the rear-arm configuration parameter is exploited to regulate the passive self-rotation operating point, providing an airframe-level mechanism for balancing swept-FoV refresh rate and flight performance. Secondly, a hierarchical autonomy framework integrating planning and control is developed to enable agile and robust autonomous flight under continuous passive self-rotation. For waypoint-based inspection, guide-point replanning is further used to improve task-level coverage. Extensive real-world experiments, including high-speed trajectory tracking, disturbance-rejection tests, and autonomous navigation in representative cluttered environments, demonstrate the effectiveness of the proposed approach for perception-enhanced autonomous flight.
发表机构
- School of Robotics and Automation, Nanjing University（南京大学机器人与自动化学院）
机构由 AI 辅助整理，请以论文原文为准。
