论文标题
在未知环境中基于激光雷达的束缚无人机导航
LiDAR-Based Navigation of Tethered Drone Formations in an Unknown Environment
论文作者
论文摘要
在未知的环境中，在未知环境中导航互连的束缚无人机的形成的问题（称为绑定的多轨体系）的问题。 Tethers将电力从地面站供电到无人机，还用作通信链接。一个以上相互联系的无人机的存在提供了足够的自由度，可以在混乱的区域中航行。编队中的领导人无人机必须达到给定的兴趣点，而追随者必须相应地移动，以避免干扰障碍。挑战是环境中的不确定性，形状和位置未知的障碍，使用激光雷达（光检测和范围）传感器，仅提供每个无人机周围环境的部分信息以及TETHER的存在，而Tethers的存在必须不影响迫害者，并对无人机的移动方式产生了其他约束。为了解决这些问题，提出了一种基于数值优化的新型实时计划算法：通过凸面程序以集中式方式选择每个无人机的参考位置，在该计划中，使用激光雷达扫描来近似自由空间，并将无人机移动到适当定义的中间目标，以最终达到感兴趣的点。该方法在具有现实模型的系统模拟中成功测试了该方法。
The problem of navigating a formation of interconnected tethered drones, named STEM (System of TEthered Multicopters), in an unknown environment is considered. The tethers feed electrical power from a ground station to the drones and also serve as communication links. The presence of more than one interconnected drone provides enough degrees of freedom to navigate in a cluttered area. The leader drone in the formation must reach a given point of interest, while the followers must move accordingly, avoiding interference with the obstacles. The challenges are the uncertainty in the environment, with obstacles of unknown shape and position, the use of LiDAR (Light Detection And Ranging) sensors, providing only partial information of the surroundings of each drone, and the presence of the tethers, which must not impact with the obstacles and pose additional constraints to how the drones can move. To cope with these problems, a novel real-time planning algorithm based on numerical optimization is proposed: the reference position of each drone is chosen in a centralized way via a convex program, where the LiDAR scans are used to approximate the free space and the drones are moved towards suitably defined intermediate goals in order to eventually reach the point of interest. The approach is successfully tested in numerical simulations with a realistic model of the system.
