仅用视角角信息引导无人机穿窗，稳定抵达窗口中心。
Quadrotor Guidance for Window Traversal: A Bearings-Only Approach
- 基于窗口四角视角角设计引导策略，无需距离信息。
- 所有轨迹均垂直于窗面，最终汇聚至窗口中心。
- 适合室内飞行与动态重规划，实测验证效果可靠。
本文提出一种仅依赖视角角信息的三维窗口穿越引导方法，用于四旋翼无人飞行器。通过窗口四个顶点的方位角信息，构建飞行路径与航向角函数，引入角平分项与椭圆形状项，引导飞行器朝向窗口中心。所设计动力学系统经稳定性分析表明，所有飞行轨迹均沿垂直于窗面方向收敛至窗口中心。与现有方法相比，该方法在信息利用、指令计算复杂度及路径重规划灵活性方面表现更优。基于六自由度四旋翼模型的高保真仿真与蒙特卡洛测试验证了方案的有效性、精度与鲁棒性。使用室内运动捕捉系统开展代表性飞行验证，结果表明该方法可实现精确稳定的窗口穿越。
原文摘要 · Abstract (English)
This paper focuses on developing a bearings-only measurement-based three-dimensional window traversal guidance method for quadrotor Uninhabitated Aerial Vehicles (UAVs). The desired flight path and heading angles of the quadrotor are proposed as functions of the bearing angle information of the four vertices of the window. These angular guidance inputs employ a bearing angle bisector term and an elliptic shaping angle term, which directs the quadrotor towards the centroid of the window. Detailed stability analysis of the resulting kinematics demonstrates that all quadrotor trajectories lead to the centroid of the window along a direction which is normal to the window plane. A qualitative comparison with existing traversal methodologies showcases the superiority of the proposed guidance approach with regard to the nature of information, computations for generating the guidance commands, and flexibility of replanning the traversal path. Realistic simulations considering six degree-of-freedom quadrotor model and Monte Carlo studies validate the effectiveness, accuracy, and robustness of the proposed guidance solution. Representative flight validation trials are carried out using an indoor motion capture system.
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