论文标题
在未知环境中的自动混合地面/空中迁移率
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments
论文作者
论文摘要
在节能和增加的活动性方面，混合地面和航空车比仅基地或仅飞行的设计具有明显的优势。在这项工作中，我们概述了统一的统一框架，用于控制，计划和混合地面/空中车辆的自主权。我们的贡献是三倍：1）我们制定了一个控制方案，以控制被动的两轮混合地面/航空车辆。 2）我们通过利用差异平面映射来提出一个统一的计划者，用于滚动和飞行。 3）我们进行了实验，利用映射和全球计划在未知环境中进行混合活动，这表明混合动力学的消耗最多是仅飞行的五倍。
Hybrid ground and aerial vehicles can possess distinct advantages over ground-only or flight-only designs in terms of energy savings and increased mobility. In this work we outline our unified framework for controls, planning, and autonomy of hybrid ground/air vehicles. Our contribution is three-fold: 1) We develop a control scheme for the control of passive two-wheeled hybrid ground/aerial vehicles. 2) We present a unified planner for both rolling and flying by leveraging differential flatness mappings. 3) We conduct experiments leveraging mapping and global planning for hybrid mobility in unknown environments, showing that hybrid mobility uses up to five times less energy than flying only.
