High-Speed Obstacle-Avoidance with Agile Fixed-Wing Aircraft

Eitan Bulka, M. Nahon
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引用次数: 6

Abstract

Agile fixed-wing aircraft aim to bridge the gap between rotor-craft and conventional fixed-wing aircraft, with the capability of maneuverable and even hovering flight like a rotor-craft, and of efficient long distance flight like a conventional fixed-wing aircraft. Avoiding obstacles in unknown environments is a challenging task with these platforms, as they have complicated dynamics and a limited payload, and they fly at high speeds. In this work, we present an obstacle-avoidance strategy that avoids collisions while steering the aircraft to the goal. The strategy does not rely on a prior map of the environment, or the ability to build a map in real-time, and can be run in real-time on-board the aircraft. We utilize a library of optimal trajectories, both conventional and aerobatic maneuvers, that are solved off-line. A sequence of these trajectories is pieced together to form a collision-free motion plan within the field of view of the depth camera that steers the aircraft towards the goal region. We validate the approach in a high-fidelity simulation environment. The aircraft flies autonomously through a forest-like map to a goal region, using conventional maneuvers such as banked and helical turns, as well as aerobatic maneuvers such as an aggressive turnaround.
敏捷固定翼飞机的高速避障
敏捷型固定翼飞机旨在弥补旋翼飞机与常规固定翼飞机之间的差距,既能像旋翼飞机一样进行机动飞行甚至悬停飞行,又能像常规固定翼飞机一样进行高效的长途飞行。对于这些平台来说,在未知环境中避开障碍物是一项具有挑战性的任务,因为它们具有复杂的动力学和有限的有效载荷,并且它们的飞行速度很高。在这项工作中,我们提出了一种避免碰撞的避障策略,同时将飞机转向目标。该策略不依赖于先前的环境地图,也不依赖于实时构建地图的能力,可以在飞机上实时运行。我们利用了一个最优轨迹库,包括常规和特技飞行,这些都是离线解决的。这些轨迹的序列被拼凑在一起,形成一个无碰撞的运动计划,在深度相机的视野范围内,将飞机转向目标区域。我们在高保真仿真环境中验证了该方法。这架飞机通过森林般的地图自动飞行到目标区域,使用传统的机动,如倾斜和螺旋转弯,以及特技飞行机动,如激进的回转。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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