通过机架设计实现被动自旋，提升狭小空间飞行感知能力
Configuration-Induced Passive Self-Rotation for Perception-Enhanced Autonomous Flight
- 通过调整后臂结构参数控制自旋速度，平衡视野刷新与飞行性能
- 实测在复杂环境中实现高速轨迹跟踪与抗扰飞行
- 适合需要广角感知的无人机巡检、搜救等场景
在狭小复杂环境中，机载传感器视场受限，制约自主飞行。被动自旋可扩大感知范围，但会带来视野刷新率与飞行性能的权衡。本文提出一种基于构型诱导的被动自旋三旋翼，通过调节后臂配置参数，实现气动构型层面的自旋点调控，平衡感知覆盖与飞行表现。同时构建分层自主框架，融合规划与控制，支持持续自旋下的敏捷稳定飞行；针对航点巡检任务，引入引导点重规划机制，提升任务级覆盖率。大量真实环境实验验证了该方法的有效性，涵盖高速轨迹跟踪、抗干扰测试及典型复杂环境自主导航。
原文摘要 · Abstract (English)
Autonomous flight in confined and cluttered environments is fundamentally limited by the restricted field of view (FoV) of onboard sensors. Passive self-rotation expands sensing coverage without additional sensors but introduces a tradeoff between swept-FoV refresh rate and flight performance. This letter presents a configuration-induced passively self-rotating tricopter for perception-enhanced autonomous flight. Firstly, the rear-arm configuration parameter is exploited to regulate the passive self-rotation operating point, providing an airframe-level mechanism for balancing swept-FoV refresh rate and flight performance. Secondly, a hierarchical autonomy framework integrating planning and control is developed to enable agile and robust autonomous flight under continuous passive self-rotation. For waypoint-based inspection, guide-point replanning is further used to improve task-level coverage. Extensive real-world experiments, including high-speed trajectory tracking, disturbance-rejection tests, and autonomous navigation in representative cluttered environments, demonstrate the effectiveness of the proposed approach for perception-enhanced autonomous flight.
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