论文标题
多余的黑盒优化，用于时间 - 最佳四框操作
Multi-Fidelity Black-Box Optimization for Time-Optimal Quadrotor Maneuvers
论文作者
论文摘要
我们考虑生成一组规定的航路点的时间优势四轨轨迹的问题。由于最佳轨迹位于动态可行轨迹集的边界上，因此此问题具有挑战性。该边界很难建模，因为它涉及敏捷高速飞行中整个系统（包括硬件和软件）的局限性。在这项工作中，我们提出了一个多保真贝叶斯优化框架，该框架对基于分析近似，数值模拟和现实世界飞行实验的可行性约束进行建模。通过以不同的保真度结合评估，可以优化轨迹时间，同时将所需昂贵的飞行实验数量保持在最低限度。该算法在模拟和实际飞行实验中以高达11 m/s的速度进行了详尽的评估。发现所得的轨迹比通过最小SNAP轨迹计划获得的轨迹要快得多。
We consider the problem of generating a time-optimal quadrotor trajectory that attains a set of prescribed waypoints. This problem is challenging since the optimal trajectory is located on the boundary of the set of dynamically feasible trajectories. This boundary is hard to model as it involves limitations of the entire system, including hardware and software, in agile high-speed flight. In this work, we propose a multi-fidelity Bayesian optimization framework that models the feasibility constraints based on analytical approximation, numerical simulation, and real-world flight experiments. By combining evaluations at different fidelities, trajectory time is optimized while keeping the number of required costly flight experiments to a minimum. The algorithm is thoroughly evaluated in both simulation and real-world flight experiments at speeds up to 11 m/s. Resulting trajectories were found to be significantly faster than those obtained through minimum-snap trajectory planning.
