四旋翼飞行器的体积调和场导航

中文摘要 AI 辅助

在杂乱的三维环境中，四旋翼导航需要全局引导，而局部运动仍受碰撞和运动限制的约束。调和势能通过全局边值问题提供密集引导，但将体积调和场与受约束的物理四旋翼运动耦合仍是一个未解决的实验问题。我们将预计算的体积调和场与受约束的预测规划器耦合，该规划器在预测位置查询场，而不是提取全局参考路径。在结构化三维测试中，调和引导比匹配的Dijkstra引导产生更大的最小间隙和更低的RMS加加速度，但代价是路径更长；当两种方法使用相同通道时，这一模式仍然存在。长迷宫测试跨越远超过一个预测范围的路线，Crazyflie试验验证了物理执行。据我们所知，这是体积调和场导航的首次物理四旋翼演示。结果表明，全局构建的调和引导可以直接支持物理四旋翼上的局部受约束运动生成。

英文摘要

Quadrotor navigation in cluttered 3-D environments requires global guidance while local motion remains subject to collision and motion limits. Harmonic potentials provide dense guidance from a global boundary value problem, but coupling a volumetric harmonic field to constrained physical quadrotor motion remains an open experimental problem. We couple a precomputed volumetric harmonic field with a constrained predictive planner that queries the field at predicted positions instead of extracting a global reference path. In Structured 3-D tests, harmonic guidance yields larger minimum clearance and lower RMS jerk than matched Dijkstra guidance, at the cost of longer paths; the same pattern remains when both methods use the same passage. Long maze tests span routes far beyond one prediction horizon, and Crazyflie trials validate physical execution. To the best of our knowledge, this is the first physical quadrotor demonstration of volumetric harmonic field navigation. The results show that globally constructed harmonic guidance can directly support local constrained motion generation on a physical quadrotor.

发表机构

• Hong Kong Polytechnic University（香港理工大学）
• University of Waterloo（滑铁卢大学）

机构由 AI 辅助整理，请以论文原文为准。