论文标题
二次感知时间最佳路径参数化
Perception-aware time optimal path parameterization for quadrotors
论文作者
论文摘要
二次运动的日益普及已引起了一类主要是视力驱动的车辆。本文讨论了四核的感知感知时间最佳路径参数化的问题。尽管有许多不同选择的感知方式选择，但是四型系统的低重量和功率预算使摄像机成为机上导航和估计算法的理想选择。但是，这确实带来了一系列挑战。相机的视野有限可以限制环境中突出区域的可见性，这决定了考虑感知和计划的必要性。本文的主要贡献是具有有限的视场约束的四型二级管的有效时间最佳路径参数化算法。我们在一项仿真研究中表明，最新的控制器可以跟踪计划的轨迹，并在实验中验证了四型平台上提出的算法。
The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different choices of perceptual modalities are available, the low weight and power budgets of quadrotor systems makes a camera ideal for on-board navigation and estimation algorithms. However, this does come with a set of challenges. The limited field of view of the camera can restrict the visibility of salient regions in the environment, which dictates the necessity to consider perception and planning jointly. The main contribution of this paper is an efficient time optimal path parametrization algorithm for quadrotors with limited field of view constraints. We show in a simulation study that a state-of-the-art controller can track planned trajectories, and we validate the proposed algorithm on a quadrotor platform in experiments.
