动态调整无人机导航策略，显著降低能耗。
EANS: Reducing Energy Consumption for UAV with an Environmental Adaptive Navigation Strategy
- 基于环境与飞行管道动态特性自适应调整导航参数。
- 实测与仿真显示能耗降低1.6至2.4倍，任务时长提升2.6至3.2倍。
- 适合需要长续航的无人机实际部署场景。
无人飞行器（UAV）受限于机载能量。优化导航策略直接影响飞行速度与轨迹，通过调整无人机系统流水线中的关键参数可降低能耗。然而，现有方法在动态场景中多采用静态、保守策略，导致能效提升不明显。动态调整导航策略面临任务流水线耦合、环境-策略关联及参数选择等挑战。本文提出一种方法，通过分析无人机动态特性与自主导航流水线的时间特性，实现导航策略的动态调整，以应对环境变化并降低能耗。通过硬件在环（HIL）仿真与真实实验对比基线方法，本方法在任务时间上分别提升3.2倍和2.6倍，在能耗上分别降低2.4倍和1.6倍。
原文摘要 · Abstract (English)
Unmanned Aerial Vehicles (UAVS) are limited by the onboard energy. Refinement of the navigation strategy directly affects both the flight velocity and the trajectory based on the adjustment of key parameters in the UAVS pipeline, thus reducing energy consumption. However, existing techniques tend to adopt static and conservative strategies in dynamic scenarios, leading to inefficient energy reduction. Dynamically adjusting the navigation strategy requires overcoming the challenges including the task pipeline interdependencies, the environmental-strategy correlations, and the selecting parameters. To solve the aforementioned problems, this paper proposes a method to dynamically adjust the navigation strategy of the UAVS by analyzing its dynamic characteristics and the temporal characteristics of the autonomous navigation pipeline, thereby reducing UAVS energy consumption in response to environmental changes. We compare our method with the baseline through hardware-in-the-loop (HIL) simulation and real-world experiments, showing our method 3.2X and 2.6X improvements in mission time, 2.4X and 1.6X improvements in energy, respectively.
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。