Real-time Planning of Minimum-time Trajectories for Agile UAV Flight

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00377225" target="_blank" >RIV/68407700:21230/24:00377225 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2024.3471388" target="_blank" >https://doi.org/10.1109/LRA.2024.3471388</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2024.3471388" target="_blank" >10.1109/LRA.2024.3471388</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Real-time Planning of Minimum-time Trajectories for Agile UAV Flight

Popis výsledku v původním jazyce

We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to enable frequent replanning during agile flight, especially on less powerful flight computers. Our approach overcomes this stumbling block by utilizing a point-mass model with a novel iterative thrust decomposition algorithm, enabling the UAV to use all of its collective thrust, something previous point-mass approaches could not achieve. The approach enables gravity and drag modeling integration, significantly reducing tracking errors in high-speed trajectories, which is proven through an ablation study. When combined with a new multi-waypoint optimization algorithm, which uses a gradient-based method to converge to optimal velocities in waypoints, the proposed method generates minimum-time multi-waypoint trajectories within milliseconds. The proposed approach, which we provide as open-source package, is validated both in simulation and in real-world, using Nonlinear Model Predictive Control. With accelerations of up to 3.5g and speeds over 100 km/h, trajectories generated by the proposed method yield similar or even smaller tracking errors than the trajectories generated for a full multirotor model.

Název v anglickém jazyce

Real-time Planning of Minimum-time Trajectories for Agile UAV Flight

Popis výsledku anglicky

We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to enable frequent replanning during agile flight, especially on less powerful flight computers. Our approach overcomes this stumbling block by utilizing a point-mass model with a novel iterative thrust decomposition algorithm, enabling the UAV to use all of its collective thrust, something previous point-mass approaches could not achieve. The approach enables gravity and drag modeling integration, significantly reducing tracking errors in high-speed trajectories, which is proven through an ablation study. When combined with a new multi-waypoint optimization algorithm, which uses a gradient-based method to converge to optimal velocities in waypoints, the proposed method generates minimum-time multi-waypoint trajectories within milliseconds. The proposed approach, which we provide as open-source package, is validated both in simulation and in real-world, using Nonlinear Model Predictive Control. With accelerations of up to 3.5g and speeds over 100 km/h, trajectories generated by the proposed method yield similar or even smaller tracking errors than the trajectories generated for a full multirotor model.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2024

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

9

Číslo periodika v rámci svazku

11

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

10351-10358

Kód UT WoS článku

001336242500011

EID výsledku v databázi Scopus

2-s2.0-85205927015