让双轮无人机地面行驶与空中飞行自由切换，实现复杂环境避障。
Ground and Flight Locomotion for Two-Wheeled Drones via Model Predictive Path Integral Control
- 用路径积分预测控制实现地面与飞行模式自由切换
- 可在非结构化环境中导航并避开任意形状障碍物
- 适合需要灵活移动的智能机器人研发者参考
本文提出一种新型两轮无人机运动规划方法，使其可在地面行驶与空中飞行之间自由切换。传统方法依赖基于梯度的优化，且假设障碍物形状可微分近似。为克服此限制，我们采用模型预测路径积分（MPPI）控制，通过模式切换实现对任意形状障碍物的避障。针对模式切换带来的不稳定与解快速变化问题，方法在切换时调整控制空间，并引入辅助控制器增强稳定性。仿真结果表明，该方法能在非结构化环境中有效导航，实现动态避障。
原文摘要 · Abstract (English)
This paper presents a novel approach to motion planning for two-wheeled drones that can drive on the ground and fly in the air. Conventional methods for two-wheeled drone motion planning typically rely on gradient-based optimization and assume that obstacle shapes can be approximated by a differentiable form. To overcome this limitation, we propose a motion planning method based on Model Predictive Path Integral (MPPI) control, enabling navigation through arbitrarily shaped obstacles by switching between driving and flight modes. To handle the instability and rapid solution changes caused by mode switching, our proposed method switches the control space and utilizes the auxiliary controller for MPPI. Our simulation results demonstrate that the proposed method enables navigation in unstructured environments and achieves effective obstacle avoidance through mode switching.
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