论文标题
部分可观测时空混沌系统的无模型预测
Minimum time trajectory generation for surveying using UAVs
论文作者
论文摘要
在本文中，我们为无人机提出了运动计划策略，该策略生成了时间最佳的轨迹来调查给定的目标区域。在几种情况下，完成航空调查是对时间敏感的，例如对急救人员获得情境意识，调查危险环境等。在这种情况下，挑战之一是计划为无人机进行时间优势轨迹。为此，我们提出了一个自主空中调查框架，该框架可以最大程度地减少使用无人机探索目标区域或体积所花费的时间。在这项工作中，（i）我们提出了一种方法，对于已知的飞行调查模式，计划者可以在3-d（ii）中生成时间优势的飞行路径，我们将计划问题作为一个离散的非线性程序构图，并减少使用SOCP松弛（III）来计算其解决方案所花费的时间（然后使用简单的路径）使用简单的轨迹轨迹轨迹型在QuadRotor上执行QUADROROROROROROR，以便在QuadRotor上执行。
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining situational awareness for first responders, surveying hazardous environments, etc. One of the challenges in such cases is to plan a time-optimal trajectory for the drone. To this end, we present an autonomous aerial survey framework that minimizes the time taken to completely explore a target area or volume using drones. In this work, (i) we present an approach, where for a known flight survey pattern, the planner can generate time-optimal flight paths in 3-D (ii) we frame the planning problem as a discrete non-linear program, and reduce the time taken to compute its solution by using an SOCP relaxation (iii) The given path is then executed using a simple trajectory tracking controller on a quadrotor to demonstrate its capability on hardware.
