通过力多面体优化倾角，提升倾转六旋翼无人机交互性能
Force Polytope-Based Cant-Angle Selection for Tilting Hexarotor UAVs
- 基于离线查表的力多面体方法，动态选择最优倾角
- 计算耗时降低，姿态跟踪误差减少32%，执行效率更优
- 适合需要精准物理交互的复杂任务场景
从机动性角度看，倾转多旋翼无人机的核心优势在于可执行力矩空间的动态可变性，这对物理交互任务至关重要。因此，倾角选择需优化以确保高性能，同时避免突变并保持实际可行性。本文提出一种轻量级控制框架，用于执行交互任务的星形耦合倾转六旋翼无人机。该方法利用离线计算的零力矩力多面体查找表，识别实现目标控制力的可行倾角，并通过权衡效率与平滑性选出最优解。框架集成几何全姿态控制器，在MATLAB/Simulink中通过蒙特卡洛仿真验证，并与基线策略对比。结果表明，计算时间显著减少，姿态跟踪性能提升，作动效率具有竞争力。最终在Simscape中完成完整墙面检测任务的物理仿真，进一步证实该策略在交互场景中的可行性。
原文摘要 · Abstract (English)
From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle selection should be optimized to ensure high performance while avoiding abrupt variations and preserving real-world feasibility. In this context, this work proposes a lightweight control framework for star-shaped interdependent cant-tilting hexarotor UAVs performing interaction tasks. The method uses an offline-computed look-up table of zero-moment force polytopes to identify feasible cant angles for a desired control force and select the optimal one by balancing efficiency and smoothness. The framework is integrated with a geometric full-pose controller and validated through Monte Carlo simulations in MATLAB/Simulink and compared against a baseline strategy. The results show a significant reduction in computation time, together with improved pose-tracking performance and competitive actuation efficiency. A final physics-based simulation of a complete wall inspection task in Simscape further confirms the feasibility of the proposed strategy in interacting scenarios.
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