多机器人协同降落轨迹实时规划，确保安全对接与充电
An Online Optimization-Based Trajectory Planning Approach for Cooperative Landing Tasks
- 基于互补约束构建决策机制，实现无人机与地面机器人的协同规划
- 支持实时动态调整降落位置与时间，保障任务可行性与用户需求
- 适用于移动充电站等场景，适合需精准协作的机器人系统
本文提出一种针对异构多机器人系统（包含一架四旋翼无人机和一辆地面移动机器人）的实时协同降落轨迹规划方法，自主确定降落位置、降落时间及机器人间的协调关系，兼顾可行性与用户设定。该框架利用互补约束作为决策依据和任务多样性指示器，并拓展至协同降落场景。在实际应用中，地面机器人可作为移动充电站，与无人机实时协同完成充电任务，实现安全高效的会合与降落。通过仿真与真实场景验证，结果表明所提框架具备实时规划能力。
原文摘要 · Abstract (English)
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and coordination between the robots are determined autonomously under the consideration of feasibility and user specifications. The proposed framework leverages the potential of the complementarity constraint as a decision-maker and an indicator for diverse cooperative tasks and extends it to the collaborative landing scenario. In a potential application of the proposed methodology, a ground mobile robot may serve as a mobile charging station and coordinates in real-time with a quadrotor to be charged, facilitating a safe and efficient rendezvous and landing. We verified the generated trajectories in simulation and real-world applications, demonstrating the real-time capabilities of the proposed landing planning framework.
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