论文标题
既不快，也不慢：如何飞过狭窄的隧道
Neither Fast Nor Slow: How to Fly Through Narrow Tunnels
论文作者
论文摘要
如今，多旋转器在丰富的任务中扮演着重要角色。在这些任务中，进入人类几乎无法进入的狭窄狭窄的隧道对于多旋转器而言是极具挑战性的。受限的空间和重大的自我气流干扰会在快速和缓慢的飞行速度下引起控制问题，同时带来了州估计和感知的问题。因此，对于安全的隧道航班，必须以适当的速度以适当的速度进行平滑轨迹。为了应对这些挑战，在这封信中，出现了一个完整的自主空中系统，该系统可以平稳地穿过尺寸狭窄至0.6 m的隧道。该系统包含一个运动计划器，该运动计划者沿隧道中心线生成光滑的迷你射击轨迹，该轨迹根据地图和欧几里得距离场（EDF）提取，其实用速度范围是通过计算流体动力学（CFD）和飞行数据分析获得的。在四个狭窄的隧道内进行了四个四极管上的大量飞行实验，以验证计划框架以及整个系统的鲁棒性。
Nowadays, multirotors are playing important roles in abundant types of missions. During these missions, entering confined and narrow tunnels that are barely accessible to humans is desirable yet extremely challenging for multirotors. The restricted space and significant ego airflow disturbances induce control issues at both fast and slow flight speeds, meanwhile bringing about problems in state estimation and perception. Thus, a smooth trajectory at a proper speed is necessary for safe tunnel flights. To address these challenges, in this letter, a complete autonomous aerial system that can fly smoothly through tunnels with dimensions narrow to 0.6 m is presented. The system contains a motion planner that generates smooth mini-jerk trajectories along the tunnel center lines, which are extracted according to the map and Euclidean Distance Field (EDF), and its practical speed range is obtained through computational fluid dynamics (CFD) and flight data analyses. Extensive flight experiments on the quadrotor are conducted inside multiple narrow tunnels to validate the planning framework as well as the robustness of the whole system.
