用几何方法控制无人机视角，实现封闭空间自主巡检。
Geometric Look-Angle Shaping Strategy for Enclosed Inspection
- 基于极坐标几何框架设计视角调节函数，保证引导稳定性。
- 在曲率可行条件下实现渐近收敛，收敛时间可解析计算。
- 支持最大转弯速率约束，适合复杂封闭环境巡检任务。
本文提出通过无人飞行器实现封闭区域巡检的几何视角调控策略（GLASS）。该策略通过在极坐标几何框架中嵌入平滑的双曲正切型视角调整函数，构建有界且几何一致的飞行引导指令，确保引导动力学全局存在性，克服传统方法在远场的局限性。李雅普诺夫稳定性分析表明，在明确的曲率可行性条件下，系统可渐近收敛至预设巡检距离，并具备可解析计算的收敛时间特性。所提策略在不引入奇点的前提下，融合最大转弯速率约束，适用于全工作空间。高保真六自由度四旋翼仿真验证了其在典型封闭空间巡检场景中的有效性，展示了其在自主封闭巡检任务中的实用潜力。
原文摘要 · Abstract (English)
This paper introduces inspection through GLASS, a Geometric Look-Angle Shaping Strategy for enclosed regions using unmanned aerial vehicles. In doing so, the vehicles guidance command is constructed through a bounded, geometry-consistent shaping of the look angle relative to a desired standoff path. By embedding a smooth, hyperbolic-tangent-type shaping function within a polar geometric framework, GLASS ensures global existence of the guidance dynamics. It avoids the far-field limitations inherent to conventional formulations. Lyapunov stability analysis establishes asymptotic convergence to a prescribed inspection standoff under explicit curvature feasibility conditions, along with analytical settling-time characteristics. The proposed strategy incorporates maximum turn-rate constraints without inducing singularities throughout the workspace. High-fidelity six-degree-of-freedom quadrotor simulations demonstrate the effectiveness of GLASS in representative enclosed inspection scenarios, highlighting a practically viable guidance framework for autonomous enclosed inspection missions.
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