Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments
In this paper, we describe trajectory planning and state estimation algorithms for aggressive flight of micro aerial vehicles in known, obstacle-dense environments. Finding aggressive but dynamically feasible and collision-free trajectories in cluttered environments requires trajectory optimization...
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| Format: | Article |
| Language: | en_US |
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Sage Publications
2017
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| Online Access: | http://hdl.handle.net/1721.1/106948 https://orcid.org/0000-0003-3765-2021 https://orcid.org/0000-0002-8293-0492 |
| _version_ | 1811092528896671744 |
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| author | Richter, Charles Andrew Roy, Nicholas Bry, Adam P. Bachrach, Abraham Galton |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Richter, Charles Andrew Roy, Nicholas Bry, Adam P. Bachrach, Abraham Galton |
| author_sort | Richter, Charles Andrew |
| collection | MIT |
| description | In this paper, we describe trajectory planning and state estimation algorithms for aggressive flight of micro aerial vehicles in known, obstacle-dense environments. Finding aggressive but dynamically feasible and collision-free trajectories in cluttered environments requires trajectory optimization and state estimation in the full state space of the vehicle, which is usually computationally infeasible on realistic timescales for real vehicles and sensors. We first build on previous work of van Nieuwstadt and Murray and Mellinger and Kumar, to show how a search process can be coupled with optimization in the output space of a differentially flat vehicle model to find aggressive trajectories that utilize the full maneuvering capabilities of a quadrotor. We further extend this work to vehicles with complex, Dubins-type dynamics and present a novel trajectory representation called a “Dubins–Polynomial trajectory”, which allows us to optimize trajectories for fixed-wing vehicles. To provide accurate state estimation for aggressive flight, we show how the Gaussian particle filter can be extended to allow laser rangefinder localization to be combined with a Kalman filter. This formulation allows similar estimation accuracy to particle filtering in the full vehicle state but with an order of magnitude more efficiency. We conclude with experiments demonstrating the execution of quadrotor and fixed-wing trajectories in cluttered environments. We show results of aggressive flight at speeds of up to 8 m/s for the quadrotor and 11 m/s for the fixed-wing aircraft. |
| first_indexed | 2024-09-23T15:19:39Z |
| format | Article |
| id | mit-1721.1/106948 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:19:39Z |
| publishDate | 2017 |
| publisher | Sage Publications |
| record_format | dspace |
| spelling | mit-1721.1/1069482022-10-02T02:13:41Z Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments Richter, Charles Andrew Roy, Nicholas Bry, Adam P. Bachrach, Abraham Galton Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Richter, Charles Andrew Roy, Nicholas Bry, Adam P. Bachrach, Abraham Galton In this paper, we describe trajectory planning and state estimation algorithms for aggressive flight of micro aerial vehicles in known, obstacle-dense environments. Finding aggressive but dynamically feasible and collision-free trajectories in cluttered environments requires trajectory optimization and state estimation in the full state space of the vehicle, which is usually computationally infeasible on realistic timescales for real vehicles and sensors. We first build on previous work of van Nieuwstadt and Murray and Mellinger and Kumar, to show how a search process can be coupled with optimization in the output space of a differentially flat vehicle model to find aggressive trajectories that utilize the full maneuvering capabilities of a quadrotor. We further extend this work to vehicles with complex, Dubins-type dynamics and present a novel trajectory representation called a “Dubins–Polynomial trajectory”, which allows us to optimize trajectories for fixed-wing vehicles. To provide accurate state estimation for aggressive flight, we show how the Gaussian particle filter can be extended to allow laser rangefinder localization to be combined with a Kalman filter. This formulation allows similar estimation accuracy to particle filtering in the full vehicle state but with an order of magnitude more efficiency. We conclude with experiments demonstrating the execution of quadrotor and fixed-wing trajectories in cluttered environments. We show results of aggressive flight at speeds of up to 8 m/s for the quadrotor and 11 m/s for the fixed-wing aircraft. Micro Autonomous Consortium Systems and Technology United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1052) American Society for Engineering Education. National Defense Science and Engineering Graduate Fellowship 2017-02-15T21:15:10Z 2017-02-15T21:15:10Z 2015-03 Article http://purl.org/eprint/type/JournalArticle 0278-3649 1741-3176 http://hdl.handle.net/1721.1/106948 Bry, Adam et al. “Aggressive Flight of Fixed-Wing and Quadrotor Aircraft in Dense Indoor Environments.” The International Journal of Robotics Research 34.7 (2015): 969–1002. https://orcid.org/0000-0003-3765-2021 https://orcid.org/0000-0002-8293-0492 en_US http://dx.doi.org/10.1177/0278364914558129 The International Journal of Robotics Research Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Sage Publications MIT web domain |
| spellingShingle | Richter, Charles Andrew Roy, Nicholas Bry, Adam P. Bachrach, Abraham Galton Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments |
| title | Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments |
| title_full | Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments |
| title_fullStr | Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments |
| title_full_unstemmed | Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments |
| title_short | Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments |
| title_sort | aggressive flight of fixed wing and quadrotor aircraft in dense indoor environments |
| url | http://hdl.handle.net/1721.1/106948 https://orcid.org/0000-0003-3765-2021 https://orcid.org/0000-0002-8293-0492 |
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