المفاهيم الأساسية
This paper proposes an efficient 3-stage optimization-based framework to generate safe and dynamically feasible 6-D trajectories for omnidirectional multirotor aerial vehicles (OMAVs) in cluttered environments.
الملخص
The paper presents a 3-stage optimization-based framework for generating 6-D trajectories for OMAVs in cluttered environments:
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Initial Path Search: An initial feasible path from the start to the end point is obtained using RRT.
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SFC Generation: A 3-D safe flight corridor (SFC) is generated based on the initial path using RILS, representing the collision-free regions.
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6-D Trajectory Optimization: An efficient optimization-based method is proposed to generate a smooth, safe, and dynamically feasible 6-D trajectory within the SFC. Key aspects include:
- Representing the vehicle's attitude as a free 3-D vector using stereographic projection to eliminate constraints inherent in the SO(3) manifold.
- Formulating the trajectory generation as a constrained optimization problem and transforming it into an unconstrained one that can be solved efficiently using quasi-Newton methods.
- Considering whole-body safety constraints by modeling the vehicle's shape as a cuboid and confining the trajectory to the SFC.
Simulations in cluttered environments and real-world experiments on a tilt-rotor hexarotor aerial vehicle demonstrate the effectiveness and efficiency of the proposed framework, allowing OMAVs to navigate safely in complex environments.
الإحصائيات
The maximum velocity, acceleration, and angular velocity limits are set as vmax = 0.6 m/s, amax = 2.0 m/s^2, and ωmax = 0.5 rad/s, respectively.
اقتباسات
"As fully-actuated systems, omnidirectional multi-rotor aerial vehicles (OMAVs) have more flexible maneuverability and advantages in aggressive flight in cluttered environments than traditional underactuated MAVs."
"In some extreme scenarios, such as a narrow straight passage, traditional MAVs coupling acceleration with attitude will be most likely unable to pass through it without collision, while OMAVs can tilt themselves to adapt to the narrow space by controlling the attitude and simultaneously, control its position to achieve smooth and collision-free passing."