论文标题
无碰撞的6-DOF轨迹生成用于全向多旋风飞机
Collision-Free 6-DoF Trajectory Generation for Omnidirectional Multi-rotor Aerial Vehicle
论文作者
论文摘要
作为一种完全致动的系统，全磁多电气飞机（OMAVS）具有比传统不足的多电流飞机具有更灵活的机动性，并且在复杂环境中的障碍物避免飞行中也具有更大的优势使设计的轨迹生成算法有效且可扩展的挑战。本文旨在在复杂的环境中实现OMAV的障碍计划。 OMAVS的6-DOF轨迹生成框架是第一次设计基于几何限制的最小控制工作（MINCO）轨迹生成框架。按照一系列凸多面体代表的安全区域，与飞机的整体形状和动态约束相结合，最终构成了colloter的6-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D-D型，立体投影。基于凉亭和PX4自动驾驶仪的仿真实验，以验证提出的框架的性能。
As a kind of fully actuated system, omnidirectional multirotor aerial vehicles (OMAVs) has more flexible maneuverability than traditional underactuated multirotor aircraft, and it also has more significant advantages in obstacle avoidance flight in complex environments.However, there is almost no way to generate the full degrees of freedom trajectory that can play the OMAVs' potential.Due to the high dimensionality of configuration space, it is challenging to make the designed trajectory generation algorithm efficient and scalable.This paper aims to achieve obstacle avoidance planning of OMAV in complex environments. A 6-DoF trajectory generation framework for OMAVs was designed for the first time based on the geometrically constrained Minimum Control Effort (MINCO) trajectory generation framework.According to the safe regions represented by a series of convex polyhedra, combined with the aircraft's overall shape and dynamic constraints, the framework finally generates a collision-free optimal 6-DoF trajectory.The vehicle's attitude is parameterized into a 3D vector by stereographic projection.Simulation experiments based on Gazebo and PX4 Autopilot are conducted to verify the performance of the proposed framework.
