Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments

被引:117
作者
Bry, Adam [1 ]
Richter, Charles [1 ]
Bachrach, Abraham [1 ]
Roy, Nicholas [1 ]
机构
[1] MIT, Comp Sci & Artificial Intelligence Lab, Cambridge, MA 02139 USA
关键词
Non-holonomic motion planning; mobile and distributed robotics SLAM; localization; sensor fusion; sensing and perception computer vision; aerial robotics; field and service robotics; motion control; mechanics; design and control; TIME TRAJECTORY GENERATION; TRACKING CONTROL; NAVIGATION; COMPUTATION; SYSTEMS;
D O I
10.1177/0278364914558129
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
In this paper, we describe trajectory planning and state estimation algorithms for aggressive flight of micro aerial vehicles in known, obstacle-dense environments. Finding aggressive but dynamically feasible and collision-free trajectories in cluttered environments requires trajectory optimization and state estimation in the full state space of the vehicle, which is usually computationally infeasible on realistic timescales for real vehicles and sensors. We first build on previous work of van Nieuwstadt and Murray and Mellinger and Kumar, to show how a search process can be coupled with optimization in the output space of a differentially flat vehicle model to find aggressive trajectories that utilize the full maneuvering capabilities of a quadrotor. We further extend this work to vehicles with complex, Dubins-type dynamics and present a novel trajectory representation called a Dubins-Polynomial trajectory, which allows us to optimize trajectories for fixed-wing vehicles. To provide accurate state estimation for aggressive flight, we show how the Gaussian particle filter can be extended to allow laser rangefinder localization to be combined with a Kalman filter. This formulation allows similar estimation accuracy to particle filtering in the full vehicle state but with an order of magnitude more efficiency. We conclude with experiments demonstrating the execution of quadrotor and fixed-wing trajectories in cluttered environments. We show results of aggressive flight at speeds of up to 8m/s for the quadrotor and 11m/s for the fixed-wing aircraft.
引用
收藏
页码:969 / 1002
页数:34
相关论文
共 49 条
[1]  
Abbeel Pieter., 2005, Robotics: Science and Systems
[2]  
[Anonymous], 2004, Mechanics of Flight
[3]  
[Anonymous], 1999, Nonlinear Programming
[4]  
[Anonymous], INT S GNSS GPS
[5]  
[Anonymous], IEEE C DEC CONTR
[6]   RANGE-Robust Autonomous Navigation in GPS-Denied Environments [J].
Bachrach, Abraham ;
Prentice, Samuel ;
He, Ruijie ;
Roy, Nicholas .
JOURNAL OF FIELD ROBOTICS, 2011, 28 (05) :644-666
[7]  
Barry AJ, 2014, IEEE INT CONF ROBOT, P2559, DOI 10.1109/ICRA.2014.6907217
[8]  
Betts JT, 2010, ADV DES CONTROL, P1, DOI 10.1137/1.9780898718577
[9]  
Bry Adam, 2011, IEEE International Conference on Robotics and Automation, P723
[10]  
Bry A, 2012, IEEE INT CONF ROBOT, P1, DOI 10.1109/ICRA.2012.6225295