用手绘方式规划无人机轨迹，更快更省力。
How to Drawjectory? -- Trajectory Planning using Programming by Demonstration
- 通过手绘轨迹实现无人机路径编程，降低技术门槛。
- 平均快78.7秒，轨迹偏差仅6.67厘米。
- 适合需要快速部署的飞行任务或非专业用户。
飞行轨迹定义了四旋翼无人机从一点到另一点在三维空间中的精确运动路径。自动轨迹规划面临计算量大、精度不足等问题。因此，在计算资源有限或需高精度控制时，手动编程可能更优，但要求深入掌握三维空间轨迹规划知识。本文提出一种基于示范编程（Programming by Demonstration, PbD）的手动轨迹规划方法——直接在三维空间中手绘轨迹，简化流程并降低知识门槛。我们在乌尔姆大学四旋翼实验室实现了该方法。为评估效果，将用户使用本方法绘制的轨迹与采用领域特定语言手动编程的轨迹在精度、准确性和耗时上进行对比。结果表明，Drawjectory流程平均节省78.7秒，轨迹平均偏差为6.67厘米，精度损失不显著。
原文摘要 · Abstract (English)
A flight trajectory defines how exactly a quadrocopter moves in the three-dimensional space from one position to another. Automatic flight trajectory planning faces challenges such as high computational effort and a lack of precision. Hence, when low computational effort or precise control is required, programming the flight route trajectory manually might be preferable. However, this requires in-depth knowledge of how to accurately plan flight trajectories in three-dimensional space. We propose planning quadrocopter flight trajectories manually using the Programming by Demonstration (PbD) approach -- simply drawing the trajectory in the three-dimensional space by hand. This simplifies the planning process and reduces the level of in-depth knowledge required. We implemented the approach in the context of the Quadcopter Lab at Ulm University. In order to evaluate our approach, we compare the precision and accuracy of the trajectories drawn by a user using our approach as well as the required time with those manually programmed using a domain specific language. The evaluation shows that the Drawjectory workflow is, on average, 78.7 seconds faster without a significant loss of precision, shown by an average deviation 6.67 cm.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。