论文标题
多用户自动无人驾驶飞机的有效负载质量意识轨迹计划
Payload-Mass-Aware Trajectory Planning on Multi-User Autonomous Unmanned Aerial Vehicles
论文作者
论文摘要
未来的无人驾驶汽车（无人机）将由多个用户共享，并且必须在需要全自动功能的情况下运行。无人机轨迹的计算将很重要，但是除非考虑质量和飞行速度，否则无法计算最佳轨迹。本文在多用户动态有效载荷质量场景中介绍了无机轨迹计划的情况，从而使无人机可以计算其轨迹而无需地面控制通信。在可变有效载荷质量和飞行速度意识下，在多个用户或应用程序共享的情况下，我们在可变有效载荷质量和飞行速度意识下制定并调查了无机轨迹计划。我们使用启发式和优化算法的组合提出有效的解决方案。为了支持这项调查，我们提出了一个新的模型，用于无人机推进功率作为速度和有效载荷质量的函数。我们在当代嵌入式处理器上评估了我们提出的算法解决方案，并证明了其具有有限的计算开销（在ARM Cortex-A9 SOC上少于300毫秒）的能力。
Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal trajectories cannot be calculated unless mass and flight speed are taken into account. This article presents the case for on-drone trajectory planning in a multi-user dynamic payload mass scenario, allowing a drone to calculate its trajectory with no need for ground control communication. We formulate and investigate on-drone trajectory planning under variable payload mass and flight speed awareness, in cases where it is shared by multiple users or applications. We present efficient solutions using a combination of heuristic and optimization algorithms. To support this investigation, we present a new model for the power dissipation of drone propulsion as a function of speed and payload mass. We evaluate our proposed algorithmic solution on contemporary embedded processors and demonstrate its capability to generate near-optimal trajectories with limited computational overhead (less than 300 milliseconds on an ARM Cortex-A9 SoC).
