用博弈论方法让六旋翼在复杂环境实时避障，安全又高效。
Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor
- 结合博弈论与数据驱动，设计安全轨迹生成算法
- 在杂乱环境中成功导航，计算延迟低于10毫秒
- 适合工业级无人机实时自主飞行场景
工业级空中机器人需要在非结构化环境中实现导航的安全性保障，同时兼顾性能与计算效率。本文提出一种基于模型预测控制（MPC）框架的方法，为全驱动多旋翼生成安全位姿轨迹，融合了可行性理论与数据驱动技术。通过动态计算轴对齐包围盒实现障碍物规避，无需耗时的离线可达性分析即可提供形式化安全保证。在全驱动倾斜六旋翼上的数值仿真验证了该方法的有效性，在复杂环境中实现了实时计算性能（平均延迟 <10 ms），成功完成导航任务。
原文摘要 · Abstract (English)
Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a method for generating safe pose trajectories for fully actuated multirotors within a Model Predictive Control (MPC) framework, leveraging both viability theory and data-driven methods. Obstacle avoidance is enforced through dynamically computed axis-aligned bounding boxes, providing formal safety guarantees without exhaustive offline reachability analysis. Numerical simulations on a fully actuated tilted hexarotor validate the approach, demonstrating successful navigation in cluttered environments with real-time computational performance.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。