论文标题
基于优化的束缚空中机器人的轨迹计划
Optimization-based Trajectory Planning for Tethered Aerial Robots
论文作者
论文摘要
本文提出了一种非线性优化方法，用于束缚空中机器人的轨迹计划。特别是，该论文解决了通过系绳与无人接地车辆（UGV）相关的无人驾驶汽车（UAV）的计划问题。假设UGV位置是静态的，结果是无人机和系绳的无碰撞轨迹。优化器考虑了与动作的无人机，UGV和系绳位置，障碍物和时间方面相关的约束，例如有限的机器人速度和加速度，最后是束缚状态，而根源状态不需要紧张。该问题是在加权多目标优化框架中提出的。模拟场景的结果表明，该方法能够为无人机和束缚生成无障碍物和平滑的轨迹。
This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by means of a tether. The result is a collision-free trajectory for UAV and tether, assuming the UGV position is static. The optimizer takes into account constraints related to the UAV, UGV and tether positions, obstacles and temporal aspects of the motion such as limited robot velocities and accelerations, and finally the tether state, which is not required to be tense. The problem is formulated in a weighted multi-objective optimization framework. Results from simulated scenarios demonstrate that the approach is able to generate obstacle-free and smooth trajectories for the UAV and tether.
