为倾转旋翼无人机设计动态分配算法，提升飞行灵活性与能效。
Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics
- 提出三种新型分配方法，融合推进器动力学与执行器特性。
- 可动态调节电机转速，支持飞行中关闭部分电机，提升能效。
- 支持70%更快轨迹跟踪，适合高动态飞行任务的无人机系统。
倾转旋翼飞行器相比固定旋翼平台更具动态性和灵活性，因其推力矢量与机体姿态解耦。然而，在考虑过驱动和执行器动态的情况下，伺服与螺旋桨的协调分配问题仍具挑战。本文逐步提出并验证三种新颖的倾转旋翼无人机分配方法，在真实系统上完成高动态机动测试。将现有几何分配扩展为微分分配，利用平台冗余性，避免奇异性。进一步引入执行器动态与螺旋桨功率动态，建模动态螺旋桨加速限制，带来两大优势：无需零空间目标即可平衡螺旋桨转速，且可在飞行中选择性关闭螺旋桨，开启新操控可能。同时，通过引入执行器动态与极限约束对分配问题进行归一化，使调参更简便，并实现比几何分配快70%的轨迹跟踪能力。
原文摘要 · Abstract (English)
Tilt-rotor aerial robots are more dynamic and versatile than fixed-rotor platforms, since the thrust vector and body orientation are decoupled. However, the coordination of servos and propellers (the allocation problem) is not trivial, especially accounting for overactuation and actuator dynamics. We incrementally build and present three novel allocation methods for tilt-rotor aerial robots, comparing them to state-of-the-art methods on a real system performing dynamic maneuvers. We extend the state-of-the-art geometric allocation into a differential allocation, which uses the platform's redundancy and does not suffer from singularities. We expand it by incorporating actuator dynamics and propeller power dynamics. These allow us to model dynamic propeller acceleration limits, bringing two main advantages: balancing propeller speed without the need for nullspace goals and allowing the platform to selectively turn off propellers during flight, opening the door to new manipulation possibilities. We also use actuator dynamics and limits to normalize the allocation problem, making it easier to tune and allowing it to track 70% faster trajectories than a geometric allocation.
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