期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 36, 期 5, 页码 1526-1545出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2020.2993215
关键词
Trajectory; Drones; Education; Robustness; Robots; Planning; Optimization; Aerial systems; applications; motion; and path planning; autonomous vehicle navigation; collision avoidance
类别
资金
- HKUST Institutional Fund
In this article, we propose a complete and robust system for the aggressive flight of autonomous quadrotors. The proposed system is built upon on the classical teach-and-repeat framework, which is widely adopted in infrastructure inspection, aerial transportation, and search-and-rescue. For these applications, a human's intention is essential for deciding the topological structure of the flight trajectory of the drone. However, poor teaching trajectories and changing environments prevent a simple teach-and-repeat system from being applied flexibly and robustly. In this article, instead of commanding the drone to precisely follow a teaching trajectory, we propose a method to automatically convert a human-piloted trajectory, which can be arbitrarily jerky, to a topologically equivalent one. The generated trajectory is guaranteed to be smooth, safe, and dynamically feasible, with a human preferable aggressiveness. Also, to avoid unmapped or moving obstacles during flights, a fast local perception method and a sliding-windowed replanning method are integrated into our system, to generate safe and dynamically feasible local trajectories onboard. We name our system as teach-repeat-replan. It can capture users' intention of a flight mission, convert an arbitrarily jerky teaching path to a smooth repeating trajectory, and generate safe local replans to avoid unexpected collisions. The proposed planning system is integrated into a complete autonomous quadrotor with global and local perception and localization submodules. Our system is validated by performing aggressive flights in challenging indoor/outdoor environments. We release all components in our quadrotor system as open-source ros packages.
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