发表机构
University of Padova; University of Trento（帕多瓦大学; 特伦托大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对全驱动多旋翼，提出结合生存理论与数据驱动方法的Viability Kernel MPC算法，通过动态轴对齐边界框避障，经模拟验证可在杂乱环境中安全导航且计算高效。
AI 中文摘要
工业空中机器人技术要求在非结构化环境中导航时提供安全保障，同时优化性能与计算效率。本文提出一种在模型预测控制（MPC）框架内为全驱动多旋翼生成安全位姿轨迹的方法，结合生存理论与数据驱动方法。通过动态计算的轴对齐边界框实现避障，无需详尽的离线可达性分析即可提供形式化安全保障。对全驱动倾斜六旋翼的数值模拟验证了该方法，其在杂乱环境中成功导航且具备实时计算性能。
英文摘要
Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a method for generating safe pose trajectories for fully actuated multirotors within a Model Predictive Control (MPC) framework, leveraging both viability theory and data-driven methods. Obstacle avoidance is enforced through dynamically computed axis-aligned bounding boxes, providing formal safety guarantees without exhaustive offline reachability analysis. Numerical simulations on a fully actuated tilted hexarotor validate the approach, demonstrating successful navigation in cluttered environments with real-time computational performance.
