论文标题
生成最小SNAP四轨轨迹真的很快
Generating Minimum-Snap Quadrotor Trajectories Really Fast
论文作者
论文摘要
我们提出了一种用于生成具有线性计算复杂性相对于样条轨迹中的段数的四型二次轨迹的最小SNAP轨迹的算法。我们的算法在数字上对于大量细分市场是稳定的，并且能够生成超过$ 500,000 $的细分市场的轨迹。我们的算法的计算速度和数值稳定性使其适合实时生成非常大的轨迹。我们演示了算法的性能，并将其与现有方法进行比较，在这种方法中，它既更快又能够计算出比最新的方法更大的轨迹。我们还通过长时间飞行在实验上显示了轨迹的可行性。
We propose an algorithm for generating minimum-snap trajectories for quadrotors with linear computational complexity with respect to the number of segments in the spline trajectory. Our algorithm is numerically stable for large numbers of segments and is able to generate trajectories of more than $500,000$ segments. The computational speed and numerical stability of our algorithm makes it suitable for real-time generation of very large scale trajectories. We demonstrate the performance of our algorithm and compare it to existing methods, in which it is both faster and able to calculate larger trajectories than state-of-the-art. We also show the feasibility of the trajectories experimentally with a long quadrotor flight.
