用飞机型迪布尔斯路径优化无人机轨迹，兼顾避障与实时控制
High-level spatial Dubins airplane-based reference smoothing with low-level geometric tracking for quadrotor control
- 基于迪布尔斯飞机模型降维，解耦空间规划并构建小规模线性规划
- 结合几何跟踪控制器，实现对障碍物轮廓路径的精准跟随
- 支持离线规划或在线滚动重规划，适用于动态避障场景
本文提出一种多旋翼无人机控制方法，包含高层参考路径平滑与低层跟踪控制两步。高层步骤利用迪布尔斯飞机模型进行降维，降低计算复杂度，通过其结构特性实现解耦、空间建模，并构建小型线性规划问题。低层步骤采用基于完整多旋翼模型的几何跟踪控制器，用于跟踪受横向约束的参考路径，例如沿障碍物轮廓的轨迹。该方法区分两种配置：一是高层规划一次性离线完成；二是高层规划在闭环中在线滚动执行，仅覆盖有限空间预测范围。该设计提升了路径安全性与实时性。
原文摘要 · Abstract (English)
A method for the control of quadrotors is presented. It is composed of a high-level reference smoothing step and a low-level reference tracking step. The high-level step leverages the Dubins airplane model for dimensionality reduction and reduced computational complexity, and exploits its structure for decoupling, spatial modeling and the formulation of a small linear program. The low-level step leverages a geometric tracking controller, which is based on the full quadrotor model. The method is designed for the tracking of references subject to lateral constraints along the path. An example is the tracking of references along obstacle contours. It is differentiated between two different setups. Either the high-level planning step is conducted once and offline, or, alternatively, the high-level planning step is conducted recedingly online in closed-loop over a limited spatial prediction horizon.
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