期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 30, 期 3, 页码 335-354出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364910387173
关键词
Hamilton-Jacobi reachability; quadrotor maneuver design; rotorcraft aerobatics; guaranteed collision avoidance
类别
The control of complex non-linear systems can be aided by modeling each system as a collection of simplified hybrid modes, with each mode representing a particular operating regime defined by the system dynamics or by a region of the state space in which the system operates. Guarantees on the safety and performance of such hybrid systems can still be challenging to generate, however. Reachability analysis using a dynamic game formulation with Hamilton-Jacobi methods provides a useful way to generate these types of guarantees, and the technique is flexible enough to analyze a wide variety of systems. This paper presents two applications of reachable sets, both focused on guaranteeing the safety and performance of robotic aerial vehicles. In the first example, reachable sets are used to design and implement a backflip maneuver for a quadrotor helicopter. In the second, reachability analysis is used to design a decentralized collision avoidance algorithm for multiple quadrotors. The theory for both examples is explained, and successful experimental results are presented from flight tests on the STARMAC quadrotor helicopter platform.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据