论文标题
四极管形成通过流体流导航功能飞行到突然车辆故障的弹性
Quadrotor Formation Flying Resilient to Abrupt Vehicle Failures via a Fluid Flow Navigation Function
论文作者
论文摘要
本文开发并在实验上评估了四轨形成飞行的导航功能，该飞行对突然四摩托失败和其他障碍有抵抗力。导航函数基于将健康四二次运动作为理想流体流中的颗粒建模。我们提供三个关键贡献：（i）遏制排除模式（CEM）安全定理和证明，并确保安全性并正式指定二次组合中的二次距离之间的最小安全距离，（ii）实时，计算高效的CEM导航算法，（iii）模拟和实验算法验证。首先使用一个由六个虚拟二次运动的团队进行仿真，以通过动态滑动速度来演示速度跟踪，保持足够的距离间距离并实时运行。在室内运动捕获飞行设施中进行了两支定制四型四键的飞行测试，成功地证明了导航算法可以处理非平凡的界定跟踪错误，同时保证安全性。
This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as particles in an ideal fluid flow. We provide three key contributions: (i) A Containment Exclusion Mode (CEM) safety theorem and proof which guarantees safety and formally specifies a minimum safe distance between quadrotors in formation, (ii) A real-time, computationally efficient CEM navigation algorithm, (iii) Simulation and experimental algorithm validation. Simulations were first performed with a team of six virtual quadrotors to demonstrate velocity tracking via dynamic slide speed, maintaining sufficient inter-agent distances, and operating in real-time. Flight tests with a team of two custom quadrotors were performed in an indoor motion capture flight facility, successfully validating that the navigation algorithm can handle non-trivial bounded tracking errors while guaranteeing safety.
