基于SE(3)的实时无人机轨迹规划，兼顾位置与姿态动态可行性
\LARGE GMP$^{3}$: Learning-Driven, Bellman-Guided Trajectory Planning for UAVs in Real-Time on SE(3)
- 在SE(3)空间中联合优化位置与旋转运动，实现三维动态可行轨迹生成
- 采用改进贝尔曼算子与分布式协同机制，提升强化学习收敛速度与路径全局性
- 支持真实无人机部署，适用于复杂室内环境的高精度避障飞行
我们提出GMP³，一种多阶段全局路径规划框架，可在复杂环境中为无人飞行器（UAV）生成具有动力学可行性的三维轨迹。该框架将传统欧几里得空间路径规划拓展至李群SE(3)，实现平动与转动动力学的联合学习。引入改进的贝尔曼算子，在强化学习策略更新中利用历史轨迹信息，加速收敛。GMP³设计为分布式架构，各智能体沿轨迹协作并共享策略信息，通过共识机制实现局部策略优化与全局路径一致，即使在运动学约束下仍可达成全局最优。我们还开发了DroneManager，一个基于MAVLink协议的模块化地面控制软件，支持与真实无人机平台的实时通信与反馈。仿真与室内飞行实验验证了方法在受限三维环境中的有效性，展现出可靠的障碍物规避能力及平滑、可行的位姿轨迹。开源代码已发布于https://github.com/Domattee/DroneManager。
原文摘要 · Abstract (English)
We propose $\text{GMP}^{3}$, a multiphase global path planning framework that generates dynamically feasible three-dimensional trajectories for unmanned aerial vehicles (UAVs) operating in cluttered environments. The framework extends traditional path planning from Euclidean position spaces to the Lie group $\mathrm{SE}(3)$, allowing joint learning of translational motion and rotational dynamics. A modified Bellman-based operator is introduced to support reinforcement learning (RL) policy updates while leveraging prior trajectory information for improved convergence. $\text{GMP}^{3}$ is designed as a distributed framework in which agents influence each other and share policy information along the trajectory: each agent refines its assigned segment and shares with its neighbors via a consensus-based scheme, enabling cooperative policy updates and convergence toward a path shaped globally even under kinematic constraints. We also propose DroneManager, a modular ground control software that interfaces the planner with real UAV platforms via the MAVLink protocol, supporting real-time deployment and feedback. Simulation studies and indoor flight experiments validate the effectiveness of the proposed method in constrained 3D environments, demonstrating reliable obstacle avoidance and smooth, feasible trajectories across both position and orientation. The open-source implementation is available at https://github.com/Domattee/DroneManager
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