带状态饱和的四旋翼安全轨迹规划

赖叔朋; 蓝梦露; LiYa-xuan; 陈本美

doi:10.1631/FITEE.1800719

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带状态饱和的四旋翼安全轨迹规划

复杂系统与智能控制专辑 | Updated：2022-05-19

- 带状态饱和的四旋翼安全轨迹规划
- Safe navigation of quadrotors with jerk limited trajectory
- 信息与电子工程前沿（英文） 2019年20卷第1期页码：107-119
- Affiliations：
  
  Department of Electrical and Computer Engineering, National University of Singapore, Singapore
  Graduate School for Integrative Science & Engineering, National University of Singapore, Singapore
  School of Control Science and Engineering, Shandong University, Jinan 250061, China
  Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China
- Author bio：
  
  Shu-peng LAI, E-mail: elelais@nus.edu.sg
- Funds：
- DOI：10.1631/FITEE.1800719
  中图分类号： V279
- 收稿：2018-11-12，
  
  修回：2019-;1-;8，
  
  纸质出版：2019-01
- Accepted：
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赖叔朋, 蓝梦露, LiYa-xuan, 等. 带状态饱和的四旋翼安全轨迹规划[J]. 信息与电子工程前沿（英文）, 2019,20(1):107-119.

Shu-peng LAI, Meng-lu LAN, Ya-xuan LI, et al. Safe navigation of quadrotors with jerk limited trajectory[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 107-119.
赖叔朋, 蓝梦露, LiYa-xuan, 等. 带状态饱和的四旋翼安全轨迹规划[J]. 信息与电子工程前沿（英文）, 2019,20(1):107-119. DOI： 10.1631/FITEE.1800719.

Shu-peng LAI, Meng-lu LAN, Ya-xuan LI, et al. Safe navigation of quadrotors with jerk limited trajectory[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 107-119. DOI： 10.1631/FITEE.1800719.

摘要

当前，许多基于小型多旋翼的实际应用需考虑障碍物与安全条例的影响。在机载导航计算机有限计算能力下，实时生成安全并符合飞行器动力学特征与状态约束的轨迹，一直以来都是一项挑战。提出一种新型基于安全飞行走廊的轨迹规划方法。该方法可在10μs内，渐进规划出安全的飞行轨迹。本研究中，安全走廊基于可旋转的多个长方体搭建而成。所提方法已通过模拟和实机实验验证。

Abstract

Many aerial applications require unmanned aerial systems operate in safe zones because of the presence of obstacles or security regulations. It is a non-trivial task to generate a smooth trajectory satisfying both dynamic constraints and motion limits of the unmanned vehicles while being inside the safe zones. Then the task becomes even more challenging for real-time applications

for which computational efficiency is crucial. In this study

we present a safe flying corridor navigation method

which combines jerk limited trajectories with an efficient testing method to update the position setpoints in real time. Trajectories are generated online and incrementally with a cycle time smaller than 10 μs

which is exceptionally suitable for vehicles with limited onboard computational capability. Safe zones are represented with multiple interconnected bounding boxes which can be arbitrarily oriented. The jerk limited trajectory generation algorithm has been extended to cover the cases with asymmetrical motion limits. The proposed method has been successfully tested and verified in flight simulations and actual experiments.

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