提出抗风周期性螺旋路径，让固定翼无人机在山区飞得更远更安全。
Safe Periodic Trochoidal Paths for Fixed-Wing UAVs in Confined Windy Environments
- 设计风不变的安全螺旋路径集，适配不同风况
- 相比传统方式，可抵达山区位置多达10倍
- 适合山区巡检、长时飞行的固定翼无人机
由于具有高效节能的飞行特性，固定翼无人机适用于大范围环境中的长距离、长时间飞行任务。然而，在山区等受限环境中飞行时，其机动性有限且易受不确定风场影响，面临挑战。本文首先分析可用于定义风感知终端盘旋状态的周期性螺旋路径；随后提出一种风无关的安全螺旋路径集合，并设计切换策略以选择对应最小扩展的周期路径类型。最终实验表明，采用该最小扩展路径集进行规划，相较于单一保守盘旋动作，可在山区地形中安全抵达的位置数量提升至10倍。
原文摘要 · Abstract (English)
Due to their energy-efficient flight characteristics, fixed-wing type UAVs are useful robotic tools for long-range and duration flight applications in large-scale environments. However, flying fixed-wing UAV in confined environments, such as mountainous regions, can be challenging due to their limited maneuverability and sensitivity to uncertain wind conditions. In this work, we first analyze periodic trochoidal paths that can be used to define wind-aware terminal loitering states. We then propose a wind-invariant safe set of trochoidal paths along with a switching strategy for selecting the corresponding minimum-extent periodic path type. Finally, we show that planning with this minimum-extent set allows us to safely reach up to 10 times more locations in mountainous terrain compared to planning with a single, conservative loitering maneuver.
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。