四旋翼飞行器在未知环境中的自主导航

Dongliang Zheng, Hesheng Wang, Zheyuan Xie, Weidong Chen, X. Kong
{"title":"四旋翼飞行器在未知环境中的自主导航","authors":"Dongliang Zheng, Hesheng Wang, Zheyuan Xie, Weidong Chen, X. Kong","doi":"10.1109/ROBIO.2017.8324701","DOIUrl":null,"url":null,"abstract":"In this paper, the perception, planning, and control of a quadrotor are studied to navigate the quadrotor through unknown confined environments. To deal with the limited sensing and computation capability of the quadrotor, the perception, planning, and control are designed in a coupled manner. The basic idea is to design a method that is less demanding on perception and planning by leveraging the Model Predictive Control (MPC). More specifically, the waypoints and trajectories are generated in real-time using the point-cloud information from a range sensor. The trajectories are generated with respect to a moving reference frame, and the constantly regenerated trajectories act as feedback to guide the quadrotor. Then, a model predictive controller is introduced for trajectory tracking. With the coupled design, no map of the environment needs to be built, and the position of the quadrotor is not needed. Multiple simulations are conducted in the ROS and gazebo environment. The results show that the quadrotor can navigate in unknown, confined environment successfully.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Autonomous navigation of a quadrotor in unknown environments\",\"authors\":\"Dongliang Zheng, Hesheng Wang, Zheyuan Xie, Weidong Chen, X. Kong\",\"doi\":\"10.1109/ROBIO.2017.8324701\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, the perception, planning, and control of a quadrotor are studied to navigate the quadrotor through unknown confined environments. To deal with the limited sensing and computation capability of the quadrotor, the perception, planning, and control are designed in a coupled manner. The basic idea is to design a method that is less demanding on perception and planning by leveraging the Model Predictive Control (MPC). More specifically, the waypoints and trajectories are generated in real-time using the point-cloud information from a range sensor. The trajectories are generated with respect to a moving reference frame, and the constantly regenerated trajectories act as feedback to guide the quadrotor. Then, a model predictive controller is introduced for trajectory tracking. With the coupled design, no map of the environment needs to be built, and the position of the quadrotor is not needed. Multiple simulations are conducted in the ROS and gazebo environment. The results show that the quadrotor can navigate in unknown, confined environment successfully.\",\"PeriodicalId\":197159,\"journal\":{\"name\":\"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2017.8324701\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2017.8324701","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3

摘要

研究了四旋翼飞行器的感知、规划和控制问题,实现了四旋翼飞行器在未知密闭环境中的导航。针对四旋翼飞行器有限的感知和计算能力,将感知、规划和控制进行耦合设计。其基本思想是利用模型预测控制(MPC)设计一种对感知和规划要求较低的方法。更具体地说,航路点和轨迹是利用距离传感器的点云信息实时生成的。轨迹是相对于运动参考系生成的,不断再生的轨迹作为反馈来引导四旋翼飞行器。然后,引入模型预测控制器进行轨迹跟踪。通过耦合设计,不需要建立环境地图,也不需要四旋翼飞行器的位置。在ROS和凉亭环境下进行了多次仿真。结果表明,该四旋翼飞行器能够在未知受限环境下成功导航。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Autonomous navigation of a quadrotor in unknown environments
In this paper, the perception, planning, and control of a quadrotor are studied to navigate the quadrotor through unknown confined environments. To deal with the limited sensing and computation capability of the quadrotor, the perception, planning, and control are designed in a coupled manner. The basic idea is to design a method that is less demanding on perception and planning by leveraging the Model Predictive Control (MPC). More specifically, the waypoints and trajectories are generated in real-time using the point-cloud information from a range sensor. The trajectories are generated with respect to a moving reference frame, and the constantly regenerated trajectories act as feedback to guide the quadrotor. Then, a model predictive controller is introduced for trajectory tracking. With the coupled design, no map of the environment needs to be built, and the position of the quadrotor is not needed. Multiple simulations are conducted in the ROS and gazebo environment. The results show that the quadrotor can navigate in unknown, confined environment successfully.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信